diff --git "a/meta/stats.json" "b/meta/stats.json" --- "a/meta/stats.json" +++ "b/meta/stats.json" @@ -1,2024 +1,3096 @@ { - "action.left_eef_xyz": { + "task_index": { "min": [ - -0.025631999596953392, - -0.5175129771232605, - 0.0 + 0 ], "max": [ - 0.5695440173149109, - 0.15115700662136078, - 0.5562999844551086 + 24 ], "mean": [ - 0.17898522792444374, - -0.12106044601098989, - 0.27976556004947767 + 7.044290248701546 ], "std": [ - 0.11496593768658432, - 0.09061230494220106, - 0.06347154453568812 + 6.08728484211291 ], "count": [ 1190262 ], "q01": [ - 0.09477904126041435, - -0.21314167034475365, - 0.2125027886921202 + 7.044290248701546 ], "q10": [ - 0.10691839631883504, - -0.20411564337205299, - 0.2257737466342628 + 7.044290248701547 ], "q50": [ - 0.16572267302344812, - -0.10276888112225442, - 0.2859202062862054 + 7.044290248701554 ], "q90": [ - 0.26292881799028306, - -0.06862656179914846, - 0.32110563890329796 + 7.0442902487015635 ], "q99": [ - 0.2756828561468423, - -0.05964250261727858, - 0.3406227673198927 + 7.044290248701564 ] }, - "state.left_gripper_state": { + "debug.left_gripper_eef_xyz": { "min": [ - 0.0 + -0.03974274918437004, + -0.08191245049238205, + -0.05133657529950142 ], "max": [ - 1.0 + 0.07331667840480804, + 0.07790468633174896, + 0.07853725552558899 ], "mean": [ - 0.3016416924734461 + 0.0001206535119337648, + -0.00025288535581709535, + 0.00016590505508248566 ], "std": [ - 0.29120831424949695 + 0.0018844198268935315, + 0.0026162750853398246, + 0.003416210169370154 ], "count": [ 1190262 ], "q01": [ - 0.1274105382879833 + -0.003602153712271314, + -0.00630107893261871, + -0.008274410389923444 ], "q10": [ - 0.1385753003213384 + -0.0009548252292171848, + -0.0023360865216852183, + -0.002649857218046652 ], "q50": [ - 0.2690357163564362 + 3.552017771483163e-06, + -3.820739373448237e-05, + 3.743541113583163e-05 ], "q90": [ - 0.5365181476685051 + 0.001330702463340164, + 0.0011439956358770072, + 0.003314815324250065 ], "q99": [ - 0.5793484628213502 + 0.005073301238635101, + 0.0057567186574574505, + 0.006980585490176547 ] }, - "state.left_joint_pos": { + "timestamp": { "min": [ - -2.136366605758667, - -0.017949875444173813, - -2.9559032917022705, - -1.7966796159744263, - -1.3195165395736694, - -292.6617431640625 + 0.0 ], "max": [ - 0.4361523389816284, - 2.8948493003845215, - 0.022171324118971825, - 1.7840152978897095, - 33070.77734375, - 2.173243284225464 + 36.96 ], "mean": [ - -0.5447503868839202, - 1.106152378249364, - -0.918965895651728, - -0.19111079778809612, - 0.7199935114637099, - 0.13204706522876591 + 6.164854561432687 ], "std": [ - 0.24440223451338217, - 0.6622603425515478, - 0.5761099063420537, - 0.43273464910452836, - 30.316938672927975, - 0.6198394047764999 + 4.802848415955723 ], "count": [ 1190262 ], "q01": [ - -0.6746832143134905, - 0.6116969054469206, - -1.3684538702505002, - -0.4452353991486795, - 0.36932759730462816, - -0.1648500904169706 + 0.10344305509503884 ], "q10": [ - -0.6541429473404956, - 0.6871674781781585, - -1.3230525996146885, - -0.39002545694990204, - 0.43650347761510955, - -0.10191309335128622 + 1.2155797198965992 ], "q50": [ - -0.5437188434163622, - 1.0321055941195434, - -0.8426625792280225, - -0.16793626401510542, - 0.6975479462352185, - 0.11820903237840187 + 6.156293808737741 ], "q90": [ - -0.4321166861559285, - 1.579988513826904, - -0.6030649518303838, - -0.019215668355911045, - 0.9136956115546339, - 0.37131581809619696 + 11.11050283671691 ], "q99": [ - -0.41598975258873094, - 1.6334911244217905, - -0.5458881778664834, - 0.043832833556387, - 0.9459464954653146, - 0.43896197561564865 + 12.22588198402433 ] }, - "observation.images.cam_high": { + "raw_state.right_joint_pos": { "min": [ - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ] + -0.5304895043373108, + -0.01788010075688362, + -2.8398656845092773, + -1.7779971361160278, + -1.3306632041931152, + -2.109398365020752 ], "max": [ - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ] + 1.7347185611724854, + 2.9962687492370605, + 33070.77734375, + 1.7791833877563477, + 1.3048286437988281, + 2.1212427616119385 ], "mean": [ - [ - [ - 0.49458917945023934 - ] - ], - [ - [ - 0.4956490708946442 - ] - ], - [ - [ - 0.4911143697744315 - ] - ] + 0.48200457495154053, + 1.0753155645007177, + -0.8328310656961835, + 0.10944956543739869, + 0.656216381332982, + -0.006975895331082784 ], "std": [ - [ - [ - 0.023473586449241253 - ] - ], - [ - [ - 0.022593240661764966 - ] - ], - [ - [ - 0.021895204246498032 - ] - ] + 0.2300156470540007, + 0.6725555985050637, + 30.318090098807, + 0.38141857851389926, + 0.5130116086915443, + 0.4814727295884878 ], "count": [ - 472969 + 1190262 ], "q01": [ - [ - [ - 0.05362246521256006 - ] - ], - [ - [ - 0.06248984334192292 - ] - ], - [ - [ - 0.061649616831456616 - ] - ] + 0.3293215090215536, + 0.5403300231976487, + -1.3279794597531773, + -0.1340713922169557, + 0.3064212028922921, + -0.32053390232516327 ], "q10": [ - [ - [ - 0.1504709227049802 - ] - ], - [ - [ - 0.15727545043570149 - ] - ], - [ - [ - 0.15802284036042524 - ] - ] + 0.34608019061743595, + 0.6100435781355382, + -1.294624602696224, + -0.06818823823939679, + 0.3806687844773479, + -0.25989195505323376 ], "q50": [ - [ - [ - 0.5398668691591894 - ] - ], - [ - [ - 0.5389713993817521 - ] - ], - [ - [ - 0.5305513311745316 - ] - ] + 0.4838398267607968, + 1.0001502689124209, + -0.7842750038590245, + 0.09032291140697067, + 0.6593059234713587, + 0.00821628489408164 ], "q90": [ - [ - [ - 0.714528699667029 - ] - ], - [ - [ - 0.7218367636105393 - ] - ], - [ - [ - 0.7313703763882209 - ] - ] + 0.6170570176344584, + 1.5839769394976855, + -0.522207564408928, + 0.31391429722736386, + 0.9179292382754554, + 0.2318992625075853 ], "q99": [ - [ - [ - 0.8117151020908662 - ] - ], - [ - [ - 0.8157669275117823 - ] - ], - [ - [ - 0.8422920953155114 - ] - ] + 0.6374338739749063, + 1.6351987316601149, + -0.47033184160043945, + 0.3623267430246096, + 0.9747749243170916, + 0.30153749263154644 ] }, - "action.base": { + "raw_target.right_eef_xyz": { "min": [ - 0.0, - 0.0 + -0.48119762539863586, + -0.09442842751741409, + 0.012755424715578556 ], "max": [ - 0.0, - 0.0 + 0.5606339573860168, + 0.4844518005847931, + 0.5070028305053711 ], "mean": [ - 0.0, - 0.0 + 0.18239769082923474, + 0.10248606242617034, + 0.26998498484347005 ], "std": [ - 0.0, - 0.0 + 0.1174994959809049, + 0.0853135371245235, + 0.06459527804192959 ], "count": [ 1190262 ], "q01": [ - 3.999578446212128e-16, - 3.999578446212128e-16 + 0.09016764670766172, + 0.0447763861725079, + 0.2012683248825218 ], "q10": [ - 3.999578446212128e-15, - 3.999578446212128e-15 + 0.10253059608155057, + 0.0514549854009884, + 0.2170210600310052 ], "q50": [ - 1.9997892231060632e-14, - 1.9997892231060632e-14 + 0.16719450905192118, + 0.08365285044208291, + 0.27531236162571 ], "q90": [ - 3.599620601590915e-14, - 3.599620601590915e-14 + 0.27580811324407345, + 0.18785892831147744, + 0.31184530387474396 ], "q99": [ - 3.9595826617500024e-14, - 3.9595826617500024e-14 + 0.28636804541273697, + 0.20136843934566376, + 0.33255153137044646 ] }, - "action.right_gripper_state": { + "index": { "min": [ - 0.0 + 0 ], "max": [ - 1.0 + 173791 ], "mean": [ - 0.3002835973660775 + 75335.682008667 ], "std": [ - 0.291675304566513 + 44471.53161316754 ], "count": [ 1190262 ], "q01": [ - 0.09444673765141393 + 75184.14672101095 ], "q10": [ - 0.11501896513473153 + 75211.95013763047 ], "q50": [ - 0.2659321087411173 + 75335.46981991292 ], "q90": [ - 0.5520274630826922 + 75459.3232155472 ], "q99": [ - 0.598515987592417 + 75487.20769422944 ] }, - "episode_index": { + "raw_state.right_gripper_state": { "min": [ - 0 + -0.005900000222027302 ], "max": [ - 650 + 0.09920000284910202 ], "mean": [ - 301.32596604781145 + 0.028312045010159072 ], "std": [ - 176.01210546272225 + 0.028049269001341994 ], "count": [ 1190262 ], "q01": [ - 301.32596604781145 + 0.008415336424781431 ], "q10": [ - 301.32596604781145 + 0.010351986104838205 ], "q50": [ - 301.32596604781145 + 0.02500558558445162 ], "q90": [ - 301.32596604781145 + 0.052462906688996336 ], "q99": [ - 301.32596604781145 + 0.05704391840517003 ] }, - "state.right_joint_pos": { + "target.left_eef_xyz": { "min": [ - -0.5304895043373108, - -0.01788010075688362, - -2.8398656845092773, - -1.7779971361160278, - -1.3306632041931152, - -2.109398365020752 + -0.025574803352355957, + -0.5172364711761475, + 0.013182041235268116 ], "max": [ - 1.7347185611724854, - 2.9962687492370605, - 33070.77734375, - 1.7791833877563477, - 1.3048286437988281, - 2.1212427616119385 + 0.5694496631622314, + 0.15098541975021362, + 0.5549294948577881 ], "mean": [ - 0.48200457495154053, - 1.0753155645007177, - -0.8328310656961835, - 0.10944956543739869, - 0.656216381332982, - -0.006975895331082784 + 0.1798906628629405, + -0.12166112853498647, + 0.27995418337802347 ], "std": [ - 0.2300156470540007, - 0.6725555985050637, - 30.318090098807, - 0.38141857851389926, - 0.5130116086915443, - 0.4814727295884878 + 0.11519968881558569, + 0.09078932451097577, + 0.06347682319106349 ], "count": [ 1190262 ], "q01": [ - 0.3293215090215536, - 0.5403300231976487, - -1.3279794597531773, - -0.1340713922169557, - 0.3064212028922921, - -0.32053390232516327 + 0.09547432775947541, + -0.21366731893710145, + 0.21278535122037442 ], "q10": [ - 0.34608019061743595, - 0.6100435781355382, - -1.294624602696224, - -0.06818823823939679, - 0.3806687844773479, - -0.25989195505323376 + 0.10805289563868034, + -0.20475676407913096, + 0.22593810402428702 ], "q50": [ - 0.4838398267607968, - 1.0001502689124209, - -0.7842750038590245, - 0.09032291140697067, - 0.6593059234713587, - 0.00821628489408164 + 0.16650441898312934, + -0.10327951706790882, + 0.28628780891014854 ], "q90": [ - 0.6170570176344584, - 1.5839769394976855, - -0.522207564408928, - 0.31391429722736386, - 0.9179292382754554, - 0.2318992625075853 + 0.2638221392431165, + -0.06934359364319988, + 0.32119614246768274 ], "q99": [ - 0.6374338739749063, - 1.6351987316601149, - -0.47033184160043945, - 0.3623267430246096, - 0.9747749243170916, - 0.30153749263154644 + 0.276542764872743, + -0.06005065481894193, + 0.3406787354089581 ] }, - "observation.images.cam_right_wrist": { + "target.right_eef_rot6d": { "min": [ - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ] + -0.9572577476501465, + -1.0, + -0.6298283338546753, + -0.9999998807907104, + -0.9999944567680359, + -0.9134393334388733 ], "max": [ - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ] + 0.9999997019767761, + 0.9262025952339172, + 0.9999855160713196, + 0.8768270015716553, + 0.98734050989151, + 0.9943367838859558 ], "mean": [ - [ - [ - 0.4991959293129514 - ] - ], - [ - [ - 0.5001726512549041 - ] - ], - [ - [ - 0.49639103343044405 - ] - ] + 0.40169580640747493, + -0.5453826703153386, + 0.5469749283847557, + -0.8248792593915486, + -0.17996870738930226, + 0.3660751443498409 ], "std": [ - [ - [ - 0.0199515291723899 - ] - ], - [ - [ - 0.019143577498196427 - ] - ], - [ - [ - 0.01972742306930429 - ] - ] + 0.2593997764737594, + 0.3227506916828474, + 0.26563275290361515, + 0.21648248826731012, + 0.24157810957754944, + 0.2189752779433003 ], "count": [ - 472969 + 1190262 ], "q01": [ - [ - [ - 0.053701071199353835 - ] - ], - [ - [ - 0.0631630146381596 - ] - ], - [ - [ - 0.06127981146301904 - ] - ] + 0.1861448350874889, + -0.7567527887762481, + 0.3139290591776103, + -0.9376612145748945, + -0.37939021243721943, + 0.16253357403906296 ], "q10": [ - [ - [ - 0.1111630164065862 - ] - ], - [ - [ - 0.12045487862919226 - ] - ], - [ - [ - 0.12178662404461238 - ] - ] + 0.2308032908142177, + -0.7242054323380928, + 0.35364913314653024, + -0.9243569556587108, + -0.3322245884506902, + 0.19924148990588095 ], "q50": [ - [ - [ - 0.5745167335026308 - ] - ], - [ - [ - 0.5739534493113997 - ] - ], - [ - [ - 0.5652458991719195 - ] - ] + 0.4112776670625456, + -0.5342450215844821, + 0.5734316297551184, + -0.8443808270585982, + -0.16644367967834722, + 0.3760135996270074 ], "q90": [ - [ - [ - 0.7111995389576172 - ] - ], - [ - [ - 0.7141271296050811 - ] - ], - [ - [ - 0.7218224312679448 - ] - ] + 0.557404825602064, + -0.3730700228481071, + 0.7064507246608568, + -0.6914180640192475, + -0.04867359102058592, + 0.5179239253213752 ], "q99": [ - [ - [ - 0.8344853213488542 - ] - ], - [ - [ - 0.8307771950728323 - ] - ], - [ - [ - 0.8532812403667722 - ] - ] + 0.592345252825119, + -0.3157792125977034, + 0.7414563254546885, + -0.6560484684470527, + -0.001496853349294801, + 0.5550779031281798 ] }, - "timestamp": { + "target.right_gripper_state": { "min": [ 0.0 ], "max": [ - 36.96 + 1.0 ], "mean": [ - 6.164854561432687 + 0.3002835973660775 ], "std": [ - 4.802848415955723 + 0.291675304566513 ], "count": [ 1190262 ], "q01": [ - 0.10344305509503884 + 0.09444673765141393 ], "q10": [ - 1.2155797198965992 + 0.11501896513473153 ], "q50": [ - 6.156293808737741 + 0.2659321087411173 ], "q90": [ - 11.11050283671691 + 0.5520274630826922 ], "q99": [ - 12.22588198402433 + 0.598515987592417 ] }, - "state.right_eef_xyz": { + "raw_target.right_eef_quat": { "min": [ - -0.48119762539863586, - -0.09442842751741409, - 0.012755424715578556 + -0.9606722593307495, + -0.9999988079071045, + -0.7005123496055603, + 0.0 ], "max": [ - 0.5606339573860168, - 0.4844518005847931, - 0.5070028305053711 + 0.7701200842857361, + 0.999999463558197, + 0.695233166217804, + 0.9346736669540405 ], "mean": [ - 0.1819280366951295, - 0.10213415621792282, - 0.27001797308772063 + -0.17851473255410377, + 0.8131643573812125, + 0.13121990289568863, + 0.3658358481524102 ], "std": [ - 0.11738809406036617, - 0.08511472912474637, - 0.06455944635446784 + 0.16194004663264655, + 0.2863336718348759, + 0.11067812829337703, + 0.1880978574437413 ], "count": [ 1190262 ], "q01": [ - 0.09001581197481111, - 0.04471978599622268, - 0.20126910830571731 + -0.30018027518470014, + 0.46845920636601907, + 0.02714812764153061, + 0.21703637958623218 ], "q10": [ - 0.101469219926192, - 0.05103126411196151, - 0.21703696788413943 + -0.27581502414527215, + 0.6408338730364733, + 0.05111842396574823, + 0.23918028088842674 ], "q50": [ - 0.16677761164917226, - 0.08344383223936669, - 0.2753921542619221 + -0.17930775781296857, + 0.8493924096794818, + 0.13577116838079906, + 0.38466678903250795 ], "q90": [ - 0.2756554669976576, - 0.1871436971860299, - 0.31192555107670494 + -0.07907622300734998, + 0.914688045294395, + 0.20292513626252892, + 0.4713400793332717 ], "q99": [ - 0.286361368045546, - 0.20134680848349876, - 0.33255776574509854 + -0.04115966807744538, + 0.9253789184424136, + 0.22546117985600517, + 0.5007245595164591 ] }, - "observation.images.cam_left_wrist": { + "debug.left_gripper_eef_rot6d": { "min": [ - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ], - [ - [ - 0.0 - ] - ] + -0.8866873383522034, + -0.46236932277679443, + -0.27472248673439026, + -0.46236932277679443, + -0.8866873979568481, + -0.8995904326438904 ], "max": [ - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ], - [ - [ - 1.0 - ] - ] + 1.000000238418579, + 0.4623693525791168, + 0.1699327826499939, + 0.4623693525791168, + 1.0000003576278687, + 0.8566157817840576 ], "mean": [ - [ - [ - 0.49348907127891517 - ] - ], - [ - [ - 0.49681429774266866 - ] - ], - [ - [ - 0.4926853378634324 - ] - ] + 0.9999246870853696, + -0.00024957011726433996, + -8.679261855200688e-06, + 0.00026509332061463016, + 0.9999032758995472, + 0.00027319358234718385 ], "std": [ - [ - [ - 0.024948639287316155 - ] - ], - [ - [ - 0.024867335286200908 - ] - ], - [ - [ - 0.025031837197388856 - ] - ] + 0.0024690322163643387, + 0.009253739412315378, + 0.0076926865366045115, + 0.009254269225834768, + 0.0025861909155857473, + 0.010066664809116888 ], "count": [ - 472969 + 1190262 ], "q01": [ - [ - [ - 0.05213357360876579 - ] - ], - [ - [ - 0.06248193011861543 - ] - ], - [ - [ - 0.061113746999415894 - ] - ] + 0.9990527506684653, + -0.022442144371683594, + -0.019198757445113065, + -0.019274868253565093, + 0.9988948391722471, + -0.024324265968988547 ], "q10": [ - [ - [ - 0.10543315836591417 - ] - ], - [ - [ - 0.11514291610605126 - ] - ], - [ - [ - 0.1153180280649639 - ] - ] + 0.9997969040031344, + -0.006473317388018476, + -0.0049591588105983245, + -0.005621674952534828, + 0.9997294411891396, + -0.007141528095344052 ], "q50": [ - [ - [ - 0.5642266987943382 - ] - ], - [ - [ - 0.5648505904852649 - ] - ], - [ - [ - 0.5538197102201612 - ] - ] + 0.9999925391604514, + 4.636926938051266e-06, + 2.8696783876135253e-06, + -5.983174957202363e-06, + 0.9999885997804434, + 6.578773132703142e-05 ], "q90": [ - [ - [ - 0.7184867560542378 - ] - ], - [ - [ - 0.7219232638268277 - ] - ], - [ - [ - 0.7267530213544444 - ] - ] + 0.9999999121402102, + 0.005622966509901522, + 0.005087638382598285, + 0.00646726472827741, + 0.9999999037547745, + 0.008208548510890446 ], "q99": [ - [ - [ - 0.8395429355004715 - ] - ], - [ - [ - 0.837273455386739 - ] - ], - [ - [ - 0.8572449945967854 - ] - ] + 1.000000065733182, + 0.01931843606797888, + 0.018176378166947282, + 0.022506207781178712, + 1.000000095975891, + 0.023315796812621123 ] }, - "action.left_eef_rot6d": { + "frame_index": { "min": [ - -0.9999991655349731, - -0.9967727065086365, - -0.5386909246444702, - -0.9983553886413574, - -0.9995541572570801, - -0.9999994039535522 + 0 ], "max": [ - 0.9815705418586731, - 1.0, - 0.9989320039749146, - 0.9999949932098389, - 0.9999993443489075, - 0.7962717413902283 + 924 ], "mean": [ - -0.5116406675884351, - 0.4910142977768705, - 0.5058238896667039, - 0.25939739777479554, - 0.7675396108131189, - -0.412235459402846 + 154.12136403581732 ], "std": [ - 0.33518395510836246, - 0.2568271073133966, - 0.25092429988941195, - 0.24709270080282228, - 0.2385929875489349, - 0.2359596498173626 + 120.07121039889311 ], "count": [ 1190262 ], "q01": [ - -0.6977743013214882, - 0.28219590609120115, - 0.3123269547467853, - 0.0892216829293955, - 0.6041770505159959, - -0.5824755613012713 + 2.58607637973731 ], "q10": [ - -0.6661681349852717, - 0.32440781248103, - 0.34983970733041975, - 0.12791429945795058, - 0.6364529305238951, - -0.5501520771498364 + 30.38949299934331 ], "q50": [ - -0.5020413680015713, - 0.5020847952429089, - 0.5269860509712546, - 0.24273054635410912, - 0.7792816864724248, - -0.4275588680668067 + 153.90244944121528 ], "q90": [ - -0.37253155354096384, - 0.6287295805393924, - 0.6357145589723533, - 0.41532798069662413, - 0.8833725088799093, - -0.24712417591664065 + 277.762570915996 ], "q99": [ - -0.31742912027756065, - 0.6599264434559887, - 0.672458661068631, - 0.4553550428525321, - 0.9026351328023802, - -0.20872040367213507 + 305.6470495982473 ] }, - "action.left_joint_pos": { + "target.right_joint_pos": { "min": [ - -2.136366605758667, - -0.017949875444173813, - -2.9559032917022705, - -1.7966796159744263, - -1.3195165395736694, - -292.6617431640625 + -0.5304895043373108, + -0.01788010075688362, + -2.8398656845092773, + -1.7779971361160278, + -1.3306632041931152, + -2.109398365020752 ], "max": [ - 0.4361523389816284, - 2.8948493003845215, - 0.022171324118971825, - 1.7840152978897095, + 1.7347185611724854, + 2.9962687492370605, 33070.77734375, - 2.173243284225464 + 1.7791833877563477, + 1.3048286437988281, + 2.1212427616119385 ], "mean": [ - -0.5451073920204275, - 1.1083788931307064, - -0.9207788080625742, - -0.1913325720608691, - 0.7200259952850157, - 0.13232695735049077 + 0.4822226720666372, + 1.0779679862232885, + -0.834740554027738, + 0.10972757670888648, + 0.6561104784037403, + -0.007318175168955715 ], "std": [ - 0.24469969626053834, - 0.6627834516020411, - 0.5771313252843996, - 0.4334466069992136, - 30.316951123283342, - 0.6205707726739635 + 0.23009847845194137, + 0.6729530644477982, + 30.318102209174917, + 0.38187622747321576, + 0.5135976882299932, + 0.48194896207876825 ], "count": [ 1190262 ], "q01": [ - -0.674282911839334, - 0.6129110518112161, - -1.3681530199323775, - -0.4450362926614553, - 0.37001189538136553, - -0.16456112232392545 + 0.32934862091824846, + 0.5412694413917228, + -1.327998816582662, + -0.13401242696982704, + 0.3068093821261069, + -0.3202328903908414 ], "q10": [ - -0.6540964655990295, - 0.6946503356377358, - -1.3233922707769097, - -0.3892455680214279, - 0.4390840740901031, - -0.09997901626992436 + 0.3463723141187808, + 0.6171733595485551, + -1.29596082040898, + -0.06796255472577567, + 0.3823741347002804, + -0.2591231440825181 ], "q50": [ - -0.5441160159095263, - 1.0335082737270596, - -0.8436802628134663, - -0.16794255155516857, - 0.6971418588897472, - 0.11804714624656885 + 0.48394340433698413, + 1.0027438546177, + -0.7858319997630691, + 0.09064882328142189, + 0.6588389426615966, + 0.00788550870653163 ], "q90": [ - -0.43264584505057063, - 1.5801107596332271, - -0.608912522001446, - -0.019753197263527342, - 0.9126795732945262, - 0.3698676064166745 + 0.6175679493076027, + 1.5845077546582529, + -0.5265966466476191, + 0.3142082609136106, + 0.9162879434095343, + 0.2310578394688588 ], "q99": [ - -0.4160030128524618, - 1.633194529324926, - -0.5466592834592233, - 0.043710442629023766, - 0.9458005769171737, - 0.43823048082263083 + 0.637367490623611, + 1.6352203702785444, + -0.47087938515326994, + 0.36234107272108745, + 0.9743739728759746, + 0.30147314504757344 ] }, - "action.left_gripper_state": { + "target.right_eef_xyz": { "min": [ - 0.0 + -0.48119762539863586, + -0.09442842751741409, + 0.012755424715578556 ], "max": [ - 1.0 + 0.5606339573860168, + 0.4844518005847931, + 0.5070028305053711 ], "mean": [ - 0.301609582630091 + 0.18239769082923474, + 0.10248606242617034, + 0.26998498484347005 ], "std": [ - 0.29127662985308755 + 0.1174994959809049, + 0.0853135371245235, + 0.06459527804192959 ], "count": [ 1190262 ], "q01": [ - 0.12775635705448082 + 0.09016764670766172, + 0.0447763861725079, + 0.2012683248825218 ], "q10": [ - 0.13937234646890362 + 0.10253059608155057, + 0.0514549854009884, + 0.2170210600310052 ], "q50": [ - 0.2690071890978238 + 0.16719450905192118, + 0.08365285044208291, + 0.27531236162571 ], "q90": [ - 0.5364080983233901 + 0.27580811324407345, + 0.18785892831147744, + 0.31184530387474396 ], "q99": [ - 0.5793320488274707 + 0.28636804541273697, + 0.20136843934566376, + 0.33255153137044646 ] }, - "debug.left_gripper_eef_xyz": { + "raw_target.right_joint_pos": { "min": [ - -0.03974274918437004, - -0.08191245049238205, - -0.05133657529950142 + -0.5304895043373108, + -0.01788010075688362, + -2.8398656845092773, + -1.7779971361160278, + -1.3306632041931152, + -2.109398365020752 ], "max": [ - 0.07331667840480804, - 0.07790468633174896, - 0.07853725552558899 + 1.7347185611724854, + 2.9962687492370605, + 33070.77734375, + 1.7791833877563477, + 1.3048286437988281, + 2.1212427616119385 ], "mean": [ - 0.0001206535119337648, - -0.00025288535581709535, - 0.00016590505508248566 + 0.4822226720666372, + 1.0779679862232885, + -0.834740554027738, + 0.10972757670888648, + 0.6561104784037403, + -0.007318175168955715 ], "std": [ - 0.0018844198268935315, - 0.0026162750853398246, - 0.003416210169370154 + 0.23009847845194137, + 0.6729530644477982, + 30.318102209174917, + 0.38187622747321576, + 0.5135976882299932, + 0.48194896207876825 ], "count": [ 1190262 ], "q01": [ - -0.003602153712271314, - -0.00630107893261871, - -0.008274410389923444 + 0.32934862091824846, + 0.5412694413917228, + -1.327998816582662, + -0.13401242696982704, + 0.3068093821261069, + -0.3202328903908414 ], "q10": [ - -0.0009548252292171848, - -0.0023360865216852183, - -0.002649857218046652 + 0.3463723141187808, + 0.6171733595485551, + -1.29596082040898, + -0.06796255472577567, + 0.3823741347002804, + -0.2591231440825181 ], "q50": [ - 3.552017771483163e-06, - -3.820739373448237e-05, - 3.743541113583163e-05 + 0.48394340433698413, + 1.0027438546177, + -0.7858319997630691, + 0.09064882328142189, + 0.6588389426615966, + 0.00788550870653163 ], "q90": [ - 0.001330702463340164, - 0.0011439956358770072, - 0.003314815324250065 + 0.6175679493076027, + 1.5845077546582529, + -0.5265966466476191, + 0.3142082609136106, + 0.9162879434095343, + 0.2310578394688588 ], "q99": [ - 0.005073301238635101, - 0.0057567186574574505, - 0.006980585490176547 + 0.637367490623611, + 1.6352203702785444, + -0.47087938515326994, + 0.36234107272108745, + 0.9743739728759746, + 0.30147314504757344 ] }, - "state.left_eef_rot6d": { + "debug.right_gripper_eef_rot6d": { "min": [ - -0.9999989867210388, - -0.9966843724250793, - -0.43877989053726196, - -0.9983866810798645, - -0.7838147878646851, - -0.9999995827674866 + 0.7750394940376282, + -0.4842788875102997, + -0.46921858191490173, + -0.31293871998786926, + -0.8812373876571655, + -0.6093956828117371 ], "max": [ - 0.9294155240058899, - 0.9999999403953552, - 0.9989352226257324, - 0.9999969601631165, - 0.9999993443489075, - 0.3771432340145111 + 1.000000238418579, + 0.472450315952301, + 0.28839144110679626, + 0.472450315952301, + 1.0000003576278687, + 0.8356586694717407 ], "mean": [ - -0.5116609787143223, - 0.4906809179031456, - 0.506505140119576, - 0.25898907210688643, - 0.7680275965718966, - -0.41215018178645024 + 0.9999271557750974, + 0.00021480083995434083, + -4.050743158630698e-05, + -0.00023302264577081206, + 0.9998928341343902, + 0.00040905247828103346 ], "std": [ - 0.3349722544002231, - 0.2565941056109774, - 0.2506817548478144, - 0.24683644583453473, - 0.2381543469987179, - 0.23568051644134078 + 0.0004884539294613937, + 0.00937734397365749, + 0.007609688640189822, + 0.009366614679969701, + 0.002530517989961649, + 0.010973531432699793 ], "count": [ 1190262 ], "q01": [ - -0.6978191160152537, - 0.2820016490953089, - 0.3128498947024772, - 0.0889127363234208, - 0.6045494780728751, - -0.5823896730938213 + 0.9989939226477021, + -0.021454274476934185, + -0.018857331879044502, + -0.021781787385703636, + 0.9984495281450273, + -0.02575503973899937 ], "q10": [ - -0.6666703062774828, - 0.3238523465499226, - 0.35040737468773436, - 0.12700087655327588, - 0.6368725191692973, - -0.5503361759873812 + 0.9998039297569428, + -0.0057159671785137, + -0.005322920267577163, + -0.006665317444294718, + 0.9997093655272724, + -0.007699629652928197 ], "q50": [ - -0.5020769474921651, - 0.501824992499154, - 0.527577259546099, - 0.24244353914796068, - 0.7796360197548666, - -0.4274288950894024 + 0.9999919257072983, + 4.449274639878135e-05, + -2.770290836512543e-06, + -4.8133904018667936e-05, + 0.9999862198131465, + 5.195536890405989e-05 ], "q90": [ - -0.3715875489893193, - 0.6285997970431502, - 0.6371194311637125, - 0.41502041882356544, - 0.8841057631886334, - -0.24717494530492284 + 0.9999999153944652, + 0.006597783788674534, + 0.005005718312520842, + 0.00566722981978316, + 0.9999998659916901, + 0.00907493165699906 ], "q99": [ - -0.3172293774684954, - 0.6597107102038876, - 0.6729449797233235, - 0.4551031087808112, - 0.902810816949905, - -0.208852150588122 + 1.0000000651240464, + 0.021716513362936535, + 0.01944420383774979, + 0.021407365859815623, + 1.000000093630759, + 0.028307253549755385 ] }, - "state.joint_vel": { + "raw_state.right_eef_xyz": { + "min": [ + -0.48119762539863586, + -0.09442842751741409, + 0.012755424715578556 + ], + "max": [ + 0.5606339573860168, + 0.4844518005847931, + 0.5070028305053711 + ], + "mean": [ + 0.1819280366951295, + 0.10213415621792282, + 0.27001797308772063 + ], + "std": [ + 0.11738809406036617, + 0.08511472912474637, + 0.06455944635446784 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.09001581197481111, + 0.04471978599622268, + 0.20126910830571731 + ], + "q10": [ + 0.101469219926192, + 0.05103126411196151, + 0.21703696788413943 + ], + "q50": [ + 0.16677761164917226, + 0.08344383223936669, + 0.2753921542619221 + ], + "q90": [ + 0.2756554669976576, + 0.1871436971860299, + 0.31192555107670494 + ], + "q99": [ + 0.286361368045546, + 0.20134680848349876, + 0.33255776574509854 + ] + }, + "raw_state.left_eef_xyz": { + "min": [ + -0.025574803352355957, + -0.5172364711761475, + 0.013182041235268116 + ], + "max": [ + 0.5694496631622314, + 0.15098541975021362, + 0.5549294948577881 + ], + "mean": [ + 0.17952018576800258, + -0.1213304748068099, + 0.2799664105255269 + ], + "std": [ + 0.11506747666487802, + 0.09061891808392239, + 0.06343806135999272 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.09529572637193008, + -0.21368873078096595, + 0.21276857398768875 + ], + "q10": [ + 0.10682278978446813, + -0.20455350394372468, + 0.22592178458838355 + ], + "q50": [ + 0.16634538878764787, + -0.10311811828231046, + 0.2862566454536169 + ], + "q90": [ + 0.2637734301100429, + -0.06863148986498051, + 0.32127771501740304 + ], + "q99": [ + 0.2765604781907778, + -0.05993431031407714, + 0.34078078868601713 + ] + }, + "state.right_joint_vel": { "min": [ - -1.8559999465942383, - -2.296999931335449, - -2.687999963760376, - -4.520999908447266, - -3.934000015258789, - -5.020999908447266, - 0.0, -2.0360000133514404, -2.38100004196167, -2.8989999294281006, -4.10699987411499, -5.453000068664551, - -4.658999919891357, - 0.0 + -4.658999919891357 ], "max": [ - 28.92799949645996, - 28.92799949645996, - 28.92799949645996, - 28.92799949645996, - 28.92799949645996, - 4.330999851226807, - 0.0, 2.059000015258789, 2.859999895095825, 3.0940001010894775, 4.60699987411499, 4.744999885559082, - 5.521999835968018, - 0.0 + 5.521999835968018 ], "mean": [ - -0.0024167611726552502, - 0.024736535639118686, - -0.02910840791793997, - -0.0030971139893197644, - 0.0011925731939020645, - 0.0028046340273890514, - 0.0, 0.002472051529226473, 0.03340057503344445, -0.029372338065269333, 0.002023938925449503, -0.0006166141755958215, - -0.0030519760695948374, - 0.0 + -0.0030519760695948374 ], "std": [ - 0.14131213026795578, - 0.35284116535497234, - 0.33093575592226293, - 0.2584233759707407, - 0.28768778762952163, - 0.2992902433203294, - 0.0, 0.14932336833151447, 0.3726062161099405, 0.33982113642858225, 0.24656543653472762, 0.31776814503320255, - 0.28219460431087956, - 0.0 + 0.28219460431087956 ], "count": [ 1190262 ], "q01": [ - -0.359556962939918, - -0.7022829558106756, - -0.6965997492858705, - -0.6840934767864135, - -0.7304342642831352, - -0.7210370481225169, - 3.999578446212128e-16, -0.39095994019339914, -0.7399446309981778, -0.7792720133135764, -0.6476106747659643, -0.7538945917618284, - -0.6957832917827569, - 3.999578446212128e-16 + -0.6957832917827569 ], "q10": [ - -0.05329493995928118, - -0.2642735756880405, - -0.3001891785310813, - -0.13800338903554138, - -0.16051470090817985, - -0.15801642188269918, - 3.999578446212128e-15, -0.05252680475253182, -0.2590891081855586, -0.30580517563732135, -0.12607037200226104, -0.2192686651906185, - -0.16939564583385097, - 3.999578446212128e-15 + -0.16939564583385097 ], "q50": [ - -8.080238799748897e-05, - 0.003515361197365406, - -0.0020326826050578823, - 0.0001668945686644537, - -0.00019890466138539886, - -0.0009837499741456996, - 1.9997892231060632e-14, 6.380942422333517e-05, 0.0038665773915417634, -0.001428793632243419, 0.000423644307076126, -0.001172945371308208, - -0.0005698309639416222, - 1.9997892231060632e-14 + -0.0005698309639416222 ], "q90": [ - 0.04257699609316031, - 0.3572979129789308, - 0.12282280260798456, - 0.1279435543314962, - 0.1680798611639515, - 0.17004365570153326, - 3.599620601590915e-14, 0.0648931510010537, 0.3840178399070429, 0.14260569323955608, 0.13703868670716055, 0.19828287836305492, - 0.14549021822066624, - 3.599620601590915e-14 + 0.14549021822066624 ], "q99": [ - 0.3483814369454208, - 0.7539351451867934, - 0.7318836408678366, - 0.6251767471896724, - 0.7436887443163749, - 0.7580185666889793, - 3.9595826617500024e-14, 0.40215484754417197, 0.8427277373650912, 0.7249245112926548, 0.6423695050458326, 0.8331057590903624, - 0.7304841248572257, - 3.9595826617500024e-14 + 0.7304841248572257 ] }, - "state.right_eef_rot6d": { + "state.right_gripper_state": { "min": [ - -1.0, - -0.9999997019767761, - -0.6298283338546753, - -0.9999944567680359, - -0.8768270015716553, - -0.9134393334388733 + 0.0 ], "max": [ - 0.9262025952339172, - 0.9572577476501465, - 0.9999855160713196, - 0.98734050989151, - 0.9999998807907104, - 0.9943367838859558 + 1.0 + ], + "mean": [ + 0.3003087851512851 + ], + "std": [ + 0.29153907064916196 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.09425630130037708 + ], + "q10": [ + 0.11401342652694152 + ], + "q50": [ + 0.265536182246357 + ], + "q90": [ + 0.5521453723043133 + ], + "q99": [ + 0.5985452306759493 + ] + }, + "observation.images.cam_left_wrist": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.49348907127891517 + ] + ], + [ + [ + 0.49681429774266866 + ] + ], + [ + [ + 0.4926853378634324 + ] + ] + ], + "std": [ + [ + [ + 0.024948639287316155 + ] + ], + [ + [ + 0.024867335286200908 + ] + ], + [ + [ + 0.025031837197388856 + ] + ] + ], + "count": [ + 472969 + ], + "q01": [ + [ + [ + 0.05213357360876579 + ] + ], + [ + [ + 0.06248193011861543 + ] + ], + [ + [ + 0.061113746999415894 + ] + ] + ], + "q10": [ + [ + [ + 0.10543315836591417 + ] + ], + [ + [ + 0.11514291610605126 + ] + ], + [ + [ + 0.1153180280649639 + ] + ] + ], + "q50": [ + [ + [ + 0.5642266987943382 + ] + ], + [ + [ + 0.5648505904852649 + ] + ], + [ + [ + 0.5538197102201612 + ] + ] + ], + "q90": [ + [ + [ + 0.7184867560542378 + ] + ], + [ + [ + 0.7219232638268277 + ] + ], + [ + [ + 0.7267530213544444 + ] + ] + ], + "q99": [ + [ + [ + 0.8395429355004715 + ] + ], + [ + [ + 0.837273455386739 + ] + ], + [ + [ + 0.8572449945967854 + ] + ] + ] + }, + "state.left_joint_vel": { + "min": [ + -1.8559999465942383, + -2.296999931335449, + -2.687999963760376, + -4.520999908447266, + -3.934000015258789, + -5.020999908447266 + ], + "max": [ + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 4.330999851226807 + ], + "mean": [ + -0.0024167611726552502, + 0.024736535639118686, + -0.02910840791793997, + -0.0030971139893197644, + 0.0011925731939020645, + 0.0028046340273890514 + ], + "std": [ + 0.14131213026795578, + 0.35284116535497234, + 0.33093575592226293, + 0.2584233759707407, + 0.28768778762952163, + 0.2992902433203294 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.359556962939918, + -0.7022829558106756, + -0.6965997492858705, + -0.6840934767864135, + -0.7304342642831352, + -0.7210370481225169 + ], + "q10": [ + -0.05329493995928118, + -0.2642735756880405, + -0.3001891785310813, + -0.13800338903554138, + -0.16051470090817985, + -0.15801642188269918 + ], + "q50": [ + -8.080238799748897e-05, + 0.003515361197365406, + -0.0020326826050578823, + 0.0001668945686644537, + -0.00019890466138539886, + -0.0009837499741456996 + ], + "q90": [ + 0.04257699609316031, + 0.3572979129789308, + 0.12282280260798456, + 0.1279435543314962, + 0.1680798611639515, + 0.17004365570153326 + ], + "q99": [ + 0.3483814369454208, + 0.7539351451867934, + 0.7318836408678366, + 0.6251767471896724, + 0.7436887443163749, + 0.7580185666889793 + ] + }, + "raw_target.right_gripper_state": { + "min": [ + -0.005900000222027302 + ], + "max": [ + 0.09920000284910202 + ], + "mean": [ + 0.028309011554364105 + ], + "std": [ + 0.028062971638027998 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.00843386618627421 + ], + "q10": [ + 0.010448497928765368 + ], + "q50": [ + 0.02504341703307661 + ], + "q90": [ + 0.05245194654566095 + ], + "q99": [ + 0.05704134644039945 + ] + }, + "raw_target.left_eef_xyz": { + "min": [ + -0.025574803352355957, + -0.5172364711761475, + 0.013182041235268116 + ], + "max": [ + 0.5694496631622314, + 0.15098541975021362, + 0.5549294948577881 + ], + "mean": [ + 0.1798906628629405, + -0.12166112853498647, + 0.27995418337802347 + ], + "std": [ + 0.11519968881558569, + 0.09078932451097577, + 0.06347682319106349 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.09547432775947541, + -0.21366731893710145, + 0.21278535122037442 + ], + "q10": [ + 0.10805289563868034, + -0.20475676407913096, + 0.22593810402428702 + ], + "q50": [ + 0.16650441898312934, + -0.10327951706790882, + 0.28628780891014854 + ], + "q90": [ + 0.2638221392431165, + -0.06934359364319988, + 0.32119614246768274 + ], + "q99": [ + 0.276542764872743, + -0.06005065481894193, + 0.3406787354089581 + ] + }, + "state.left_joint_pos": { + "min": [ + -2.136366605758667, + -0.017949875444173813, + -2.9559032917022705, + -1.7966796159744263, + -1.3195165395736694, + -292.6617431640625 + ], + "max": [ + 0.4361523389816284, + 2.8948493003845215, + 0.022171324118971825, + 1.7840152978897095, + 33070.77734375, + 2.173243284225464 + ], + "mean": [ + -0.5447503868839202, + 1.106152378249364, + -0.918965895651728, + -0.19111079778809612, + 0.7199935114637099, + 0.13204706522876591 + ], + "std": [ + 0.24440223451338217, + 0.6622603425515478, + 0.5761099063420537, + 0.43273464910452836, + 30.316938672927975, + 0.6198394047764999 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.6746832143134905, + 0.6116969054469206, + -1.3684538702505002, + -0.4452353991486795, + 0.36932759730462816, + -0.1648500904169706 + ], + "q10": [ + -0.6541429473404956, + 0.6871674781781585, + -1.3230525996146885, + -0.39002545694990204, + 0.43650347761510955, + -0.10191309335128622 + ], + "q50": [ + -0.5437188434163622, + 1.0321055941195434, + -0.8426625792280225, + -0.16793626401510542, + 0.6975479462352185, + 0.11820903237840187 + ], + "q90": [ + -0.4321166861559285, + 1.579988513826904, + -0.6030649518303838, + -0.019215668355911045, + 0.9136956115546339, + 0.37131581809619696 + ], + "q99": [ + -0.41598975258873094, + 1.6334911244217905, + -0.5458881778664834, + 0.043832833556387, + 0.9459464954653146, + 0.43896197561564865 + ] + }, + "state.left_gripper_state": { + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "mean": [ + 0.3016416924734461 + ], + "std": [ + 0.29120831424949695 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.1274105382879833 + ], + "q10": [ + 0.1385753003213384 + ], + "q50": [ + 0.2690357163564362 + ], + "q90": [ + 0.5365181476685051 + ], + "q99": [ + 0.5793484628213502 + ] + }, + "state.right_eef_xyz": { + "min": [ + -0.48119762539863586, + -0.09442842751741409, + 0.012755424715578556 + ], + "max": [ + 0.5606339573860168, + 0.4844518005847931, + 0.5070028305053711 + ], + "mean": [ + 0.1819280366951295, + 0.10213415621792282, + 0.27001797308772063 + ], + "std": [ + 0.11738809406036617, + 0.08511472912474637, + 0.06455944635446784 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.09001581197481111, + 0.04471978599622268, + 0.20126910830571731 + ], + "q10": [ + 0.101469219926192, + 0.05103126411196151, + 0.21703696788413943 + ], + "q50": [ + 0.16677761164917226, + 0.08344383223936669, + 0.2753921542619221 + ], + "q90": [ + 0.2756554669976576, + 0.1871436971860299, + 0.31192555107670494 + ], + "q99": [ + 0.286361368045546, + 0.20134680848349876, + 0.33255776574509854 + ] + }, + "target.left_gripper_state": { + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "mean": [ + 0.301609582630091 + ], + "std": [ + 0.29127662985308755 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.12775635705448082 + ], + "q10": [ + 0.13937234646890362 + ], + "q50": [ + 0.2690071890978238 + ], + "q90": [ + 0.5364080983233901 + ], + "q99": [ + 0.5793320488274707 + ] + }, + "target.left_eef_rot6d": { + "min": [ + -0.9999999403953552, + -0.9999989867210388, + -0.43877989053726196, + -0.9999993443489075, + -0.9983866810798645, + -0.9999995827674866 + ], + "max": [ + 0.9966843724250793, + 0.9294155240058899, + 0.9989352226257324, + 0.7838147878646851, + 0.9999969601631165, + 0.3771432340145111 + ], + "mean": [ + -0.49089457610177833, + -0.5116281670397105, + 0.5060461598687541, + -0.7676007382062588, + 0.2592923780172208, + -0.41222145953978634 + ], + "std": [ + 0.25682630860684424, + 0.33511999480664184, + 0.25082208911402404, + 0.23854326230532563, + 0.24714441361441036, + 0.23589683912824683 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.6592540292205703, + -0.6976059200814724, + 0.3129906823284886, + -0.9026670926072682, + 0.08926378705751603, + -0.5818104111527267 + ], + "q10": [ + -0.6284974105739243, + -0.6656734197393128, + 0.35029423199264204, + -0.8831411073233635, + 0.12823142853346733, + -0.5497739386336807 + ], + "q50": [ + -0.5023900628818777, + -0.5019265899754194, + 0.5272984414895434, + -0.7797984042962934, + 0.24258259209116453, + -0.42750058265063023 + ], + "q90": [ + -0.3247829783795645, + -0.37332791682369304, + 0.6353148403573847, + -0.6368650488529987, + 0.41502034996881515, + -0.24729890106071417 + ], + "q99": [ + -0.28219966746595054, + -0.3182332235999546, + 0.6725371449809074, + -0.6048946712739286, + 0.45476429736989316, + -0.20886623202468166 + ] + }, + "raw_target.left_joint_pos": { + "min": [ + -2.136366605758667, + -0.017949875444173813, + -2.9559032917022705, + -1.7966796159744263, + -1.3195165395736694, + -292.6617431640625 + ], + "max": [ + 0.4361523389816284, + 2.8948493003845215, + 0.022171324118971825, + 1.7840152978897095, + 33070.77734375, + 2.173243284225464 + ], + "mean": [ + -0.5451073920204275, + 1.1083788931307064, + -0.9207788080625742, + -0.1913325720608691, + 0.7200259952850157, + 0.13232695735049077 + ], + "std": [ + 0.24469969626053834, + 0.6627834516020411, + 0.5771313252843996, + 0.4334466069992136, + 30.316951123283342, + 0.6205707726739635 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.674282911839334, + 0.6129110518112161, + -1.3681530199323775, + -0.4450362926614553, + 0.37001189538136553, + -0.16456112232392545 + ], + "q10": [ + -0.6540964655990295, + 0.6946503356377358, + -1.3233922707769097, + -0.3892455680214279, + 0.4390840740901031, + -0.09997901626992436 + ], + "q50": [ + -0.5441160159095263, + 1.0335082737270596, + -0.8436802628134663, + -0.16794255155516857, + 0.6971418588897472, + 0.11804714624656885 + ], + "q90": [ + -0.43264584505057063, + 1.5801107596332271, + -0.608912522001446, + -0.019753197263527342, + 0.9126795732945262, + 0.3698676064166745 + ], + "q99": [ + -0.4160030128524618, + 1.633194529324926, + -0.5466592834592233, + 0.043710442629023766, + 0.9458005769171737, + 0.43823048082263083 + ] + }, + "target.base_vel": { + "min": [ + 0.0, + 0.0 + ], + "max": [ + 0.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0 + ], + "std": [ + 0.0, + 0.0 + ], + "count": [ + 1190262 + ], + "q01": [ + 3.999578446212128e-16, + 3.999578446212128e-16 + ], + "q10": [ + 3.999578446212128e-15, + 3.999578446212128e-15 + ], + "q50": [ + 1.9997892231060632e-14, + 1.9997892231060632e-14 + ], + "q90": [ + 3.599620601590915e-14, + 3.599620601590915e-14 + ], + "q99": [ + 3.9595826617500024e-14, + 3.9595826617500024e-14 + ] + }, + "raw_state.left_joint_vel": { + "min": [ + -1.8559999465942383, + -2.296999931335449, + -2.687999963760376, + -4.520999908447266, + -3.934000015258789, + -5.020999908447266 + ], + "max": [ + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 28.92799949645996, + 4.330999851226807 + ], + "mean": [ + -0.0024167611726552502, + 0.024736535639118686, + -0.02910840791793997, + -0.0030971139893197644, + 0.0011925731939020645, + 0.0028046340273890514 + ], + "std": [ + 0.14131213026795578, + 0.35284116535497234, + 0.33093575592226293, + 0.2584233759707407, + 0.28768778762952163, + 0.2992902433203294 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.359556962939918, + -0.7022829558106756, + -0.6965997492858705, + -0.6840934767864135, + -0.7304342642831352, + -0.7210370481225169 + ], + "q10": [ + -0.05329493995928118, + -0.2642735756880405, + -0.3001891785310813, + -0.13800338903554138, + -0.16051470090817985, + -0.15801642188269918 + ], + "q50": [ + -8.080238799748897e-05, + 0.003515361197365406, + -0.0020326826050578823, + 0.0001668945686644537, + -0.00019890466138539886, + -0.0009837499741456996 + ], + "q90": [ + 0.04257699609316031, + 0.3572979129789308, + 0.12282280260798456, + 0.1279435543314962, + 0.1680798611639515, + 0.17004365570153326 + ], + "q99": [ + 0.3483814369454208, + 0.7539351451867934, + 0.7318836408678366, + 0.6251767471896724, + 0.7436887443163749, + 0.7580185666889793 + ] + }, + "target.left_joint_pos": { + "min": [ + -2.136366605758667, + -0.017949875444173813, + -2.9559032917022705, + -1.7966796159744263, + -1.3195165395736694, + -292.6617431640625 + ], + "max": [ + 0.4361523389816284, + 2.8948493003845215, + 0.022171324118971825, + 1.7840152978897095, + 33070.77734375, + 2.173243284225464 + ], + "mean": [ + -0.5451073920204275, + 1.1083788931307064, + -0.9207788080625742, + -0.1913325720608691, + 0.7200259952850157, + 0.13232695735049077 + ], + "std": [ + 0.24469969626053834, + 0.6627834516020411, + 0.5771313252843996, + 0.4334466069992136, + 30.316951123283342, + 0.6205707726739635 + ], + "count": [ + 1190262 + ], + "q01": [ + -0.674282911839334, + 0.6129110518112161, + -1.3681530199323775, + -0.4450362926614553, + 0.37001189538136553, + -0.16456112232392545 + ], + "q10": [ + -0.6540964655990295, + 0.6946503356377358, + -1.3233922707769097, + -0.3892455680214279, + 0.4390840740901031, + -0.09997901626992436 + ], + "q50": [ + -0.5441160159095263, + 1.0335082737270596, + -0.8436802628134663, + -0.16794255155516857, + 0.6971418588897472, + 0.11804714624656885 + ], + "q90": [ + -0.43264584505057063, + 1.5801107596332271, + -0.608912522001446, + -0.019753197263527342, + 0.9126795732945262, + 0.3698676064166745 + ], + "q99": [ + -0.4160030128524618, + 1.633194529324926, + -0.5466592834592233, + 0.043710442629023766, + 0.9458005769171737, + 0.43823048082263083 + ] + }, + "observation.images.cam_right_wrist": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.4991959293129514 + ] + ], + [ + [ + 0.5001726512549041 + ] + ], + [ + [ + 0.49639103343044405 + ] + ] + ], + "std": [ + [ + [ + 0.0199515291723899 + ] + ], + [ + [ + 0.019143577498196427 + ] + ], + [ + [ + 0.01972742306930429 + ] + ] + ], + "count": [ + 472969 + ], + "q01": [ + [ + [ + 0.053701071199353835 + ] + ], + [ + [ + 0.0631630146381596 + ] + ], + [ + [ + 0.06127981146301904 + ] + ] + ], + "q10": [ + [ + [ + 0.1111630164065862 + ] + ], + [ + [ + 0.12045487862919226 + ] + ], + [ + [ + 0.12178662404461238 + ] + ] + ], + "q50": [ + [ + [ + 0.5745167335026308 + ] + ], + [ + [ + 0.5739534493113997 + ] + ], + [ + [ + 0.5652458991719195 + ] + ] + ], + "q90": [ + [ + [ + 0.7111995389576172 + ] + ], + [ + [ + 0.7141271296050811 + ] + ], + [ + [ + 0.7218224312679448 + ] + ] + ], + "q99": [ + [ + [ + 0.8344853213488542 + ] + ], + [ + [ + 0.8307771950728323 + ] + ], + [ + [ + 0.8532812403667722 + ] + ] + ] + }, + "observation.images.cam_high": { + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "mean": [ + [ + [ + 0.49458917945023934 + ] + ], + [ + [ + 0.4956490708946442 + ] + ], + [ + [ + 0.4911143697744315 + ] + ] + ], + "std": [ + [ + [ + 0.023473586449241253 + ] + ], + [ + [ + 0.022593240661764966 + ] + ], + [ + [ + 0.021895204246498032 + ] + ] + ], + "count": [ + 472969 + ], + "q01": [ + [ + [ + 0.05362246521256006 + ] + ], + [ + [ + 0.06248984334192292 + ] + ], + [ + [ + 0.061649616831456616 + ] + ] + ], + "q10": [ + [ + [ + 0.1504709227049802 + ] + ], + [ + [ + 0.15727545043570149 + ] + ], + [ + [ + 0.15802284036042524 + ] + ] + ], + "q50": [ + [ + [ + 0.5398668691591894 + ] + ], + [ + [ + 0.5389713993817521 + ] + ], + [ + [ + 0.5305513311745316 + ] + ] + ], + "q90": [ + [ + [ + 0.714528699667029 + ] + ], + [ + [ + 0.7218367636105393 + ] + ], + [ + [ + 0.7313703763882209 + ] + ] + ], + "q99": [ + [ + [ + 0.8117151020908662 + ] + ], + [ + [ + 0.8157669275117823 + ] + ], + [ + [ + 0.8422920953155114 + ] + ] + ] + }, + "state.left_eef_xyz": { + "min": [ + -0.025574803352355957, + -0.5172364711761475, + 0.013182041235268116 + ], + "max": [ + 0.5694496631622314, + 0.15098541975021362, + 0.5549294948577881 ], "mean": [ - -0.5452435443173427, - -0.40145970374384954, - 0.5475412756540747, - -0.17958366939989234, - 0.8251803781862789, - 0.3660041382824994 + 0.17952018576800258, + -0.1213304748068099, + 0.2799664105255269 ], "std": [ - 0.3225902413137692, - 0.2592277969788017, - 0.26547125078900813, - 0.24132289467860288, - 0.21620992763595323, - 0.21882620922128412 + 0.11506747666487802, + 0.09061891808392239, + 0.06343806135999272 ], "count": [ 1190262 ], "q01": [ - -0.7568674989185337, - -0.5925494395148968, - 0.31391036713091913, - -0.37948976056818684, - 0.6560125992594766, - 0.16253987211291218 + 0.09529572637193008, + -0.21368873078096595, + 0.21276857398768875 + ], + "q10": [ + 0.10682278978446813, + -0.20455350394372468, + 0.22592178458838355 + ], + "q50": [ + 0.16634538878764787, + -0.10311811828231046, + 0.2862566454536169 + ], + "q90": [ + 0.2637734301100429, + -0.06863148986498051, + 0.32127771501740304 + ], + "q99": [ + 0.2765604781907778, + -0.05993431031407714, + 0.34078078868601713 + ] + }, + "state.right_joint_pos": { + "min": [ + -0.5304895043373108, + -0.01788010075688362, + -2.8398656845092773, + -1.7779971361160278, + -1.3306632041931152, + -2.109398365020752 + ], + "max": [ + 1.7347185611724854, + 2.9962687492370605, + 33070.77734375, + 1.7791833877563477, + 1.3048286437988281, + 2.1212427616119385 + ], + "mean": [ + 0.48200457495154053, + 1.0753155645007177, + -0.8328310656961835, + 0.10944956543739869, + 0.656216381332982, + -0.006975895331082784 + ], + "std": [ + 0.2300156470540007, + 0.6725555985050637, + 30.318090098807, + 0.38141857851389926, + 0.5130116086915443, + 0.4814727295884878 + ], + "count": [ + 1190262 + ], + "q01": [ + 0.3293215090215536, + 0.5403300231976487, + -1.3279794597531773, + -0.1340713922169557, + 0.3064212028922921, + -0.32053390232516327 + ], + "q10": [ + 0.34608019061743595, + 0.6100435781355382, + -1.294624602696224, + -0.06818823823939679, + 0.3806687844773479, + -0.25989195505323376 + ], + "q50": [ + 0.4838398267607968, + 1.0001502689124209, + -0.7842750038590245, + 0.09032291140697067, + 0.6593059234713587, + 0.00821628489408164 + ], + "q90": [ + 0.6170570176344584, + 1.5839769394976855, + -0.522207564408928, + 0.31391429722736386, + 0.9179292382754554, + 0.2318992625075853 + ], + "q99": [ + 0.6374338739749063, + 1.6351987316601149, + -0.47033184160043945, + 0.3623267430246096, + 0.9747749243170916, + 0.30153749263154644 + ] + }, + "raw_target.base_vel": { + "min": [ + 0.0, + 0.0 + ], + "max": [ + 0.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0 + ], + "std": [ + 0.0, + 0.0 + ], + "count": [ + 1190262 + ], + "q01": [ + 3.999578446212128e-16, + 3.999578446212128e-16 ], "q10": [ - -0.7248900603069078, - -0.5569894144535503, - 0.35379712598779367, - -0.33171100208953824, - 0.6920005821156717, - 0.19921472730954526 + 3.999578446212128e-15, + 3.999578446212128e-15 ], "q50": [ - -0.5341669854077947, - -0.41191210037747383, - 0.5738090157801132, - -0.16617869303386634, - 0.8441730982965537, - 0.3760249978370115 + 1.9997892231060632e-14, + 1.9997892231060632e-14 ], "q90": [ - -0.3708565572500138, - -0.23055139393392987, - 0.7085885780032605, - -0.0478049997565543, - 0.9247337020711177, - 0.5174316706438769 + 3.599620601590915e-14, + 3.599620601590915e-14 ], "q99": [ - -0.31527769829784913, - -0.1861017425755068, - 0.7416799018151832, - -0.001317060909654023, - 0.9376925047404626, - 0.5552716208401277 + 3.9595826617500024e-14, + 3.9595826617500024e-14 ] }, - "index": { + "raw_target.left_eef_quat": { "min": [ - 0 + -0.796191930770874, + -0.9999954700469971, + -0.713214099407196, + 0.0 ], "max": [ - 173791 + 0.9433185458183289, + 0.9999978542327881, + 0.7004187107086182, + 0.8421969413757324 ], "mean": [ - 75335.682008667 + 0.23346808706829317, + 0.8243695675473236, + -0.14367546963727573, + 0.36057429107406774 ], "std": [ - 44471.53161316754 + 0.16010097796224412, + 0.2004225508065588, + 0.12416676920472186, + 0.18447911818856744 ], "count": [ 1190262 ], "q01": [ - 75184.14672101095 + 0.10814893737223423, + 0.6469844874200357, + -0.23255895793846287, + 0.23465961795706053 ], "q10": [ - 75211.95013763047 + 0.14289861188308972, + 0.7373225984326416, + -0.21453776415729475, + 0.25619072258931613 ], "q50": [ - 75335.46981991292 + 0.23334365353135947, + 0.8375304229743242, + -0.14884464933482403, + 0.3768455544924397 ], "q90": [ - 75459.3232155472 + 0.32199589001993284, + 0.8953023986405254, + -0.06414176393856753, + 0.4458714270910037 ], "q99": [ - 75487.20769422944 + 0.34416305207600284, + 0.906159355428202, + -0.04251437843856797, + 0.47228522621763386 ] }, - "state.right_gripper_state": { + "raw_target.left_gripper_state": { "min": [ - 0.0 + -0.008100000210106373 ], "max": [ - 1.0 + 0.09920000284910202 ], "mean": [ - 0.3003087851512851 + 0.027912842261528417 ], "std": [ - 0.29153907064916196 + 0.02860651698108075 ], "count": [ 1190262 ], "q01": [ - 0.09425630130037708 + 0.010799776959272022 ], "q10": [ - 0.11401342652694152 + 0.011989712875743472 ], "q50": [ - 0.265536182246357 + 0.024785491447297393 ], "q90": [ - 0.5521453723043133 + 0.050773446851155785 ], "q99": [ - 0.5985452306759493 + 0.05498200941441148 ] }, - "debug.right_gripper_eef_rot6d": { + "episode_index": { "min": [ - 0.7750394940376282, - -0.4842788875102997, - -0.46921858191490173, - -0.31293871998786926, - -0.8812373876571655, - -0.6093956828117371 + 0 ], "max": [ - 1.000000238418579, - 0.472450315952301, - 0.28839144110679626, - 0.472450315952301, - 1.0000003576278687, - 0.8356586694717407 + 650 ], "mean": [ - 0.9999271557750974, - 0.00021480083995434083, - -4.050743158630698e-05, - -0.00023302264577081206, - 0.9998928341343902, - 0.00040905247828103346 + 301.32596604781145 ], "std": [ - 0.0004884539294613937, - 0.00937734397365749, - 0.007609688640189822, - 0.009366614679969701, - 0.002530517989961649, - 0.010973531432699793 + 176.01210546272225 ], "count": [ 1190262 ], "q01": [ - 0.9989939226477021, - -0.021454274476934185, - -0.018857331879044502, - -0.021781787385703636, - 0.9984495281450273, - -0.02575503973899937 + 301.32596604781145 ], "q10": [ - 0.9998039297569428, - -0.0057159671785137, - -0.005322920267577163, - -0.006665317444294718, - 0.9997093655272724, - -0.007699629652928197 + 301.32596604781145 ], "q50": [ - 0.9999919257072983, - 4.449274639878135e-05, - -2.770290836512543e-06, - -4.8133904018667936e-05, - 0.9999862198131465, - 5.195536890405989e-05 + 301.32596604781145 ], "q90": [ - 0.9999999153944652, - 0.006597783788674534, - 0.005005718312520842, - 0.00566722981978316, - 0.9999998659916901, - 0.00907493165699906 + 301.32596604781145 ], "q99": [ - 1.0000000651240464, - 0.021716513362936535, - 0.01944420383774979, - 0.021407365859815623, - 1.000000093630759, - 0.028307253549755385 + 301.32596604781145 ] }, - "debug.right_gripper_eef_xyz": { + "state.left_eef_rot6d": { "min": [ - -0.21519312262535095, - -0.12984274327754974, - -0.43206727504730225 + -0.9999999403953552, + -0.9999989867210388, + -0.43877989053726196, + -0.9999993443489075, + -0.9983866810798645, + -0.9999995827674866 ], "max": [ - 0.12184130400419235, - 0.421103298664093, - 0.262596070766449 + 0.9966843724250793, + 0.9294155240058899, + 0.9989352226257324, + 0.7838147878646851, + 0.9999969601631165, + 0.3771432340145111 ], "mean": [ - -0.00012448339547393075, - -0.0002426488987508215, - 0.0002550610050406728 + -0.4906809179031456, + -0.5116609787143223, + 0.506505140119576, + -0.7680275965718966, + 0.25898907210688643, + -0.41215018178645024 ], "std": [ - 0.002007257775620177, - 0.002912063836480495, - 0.003357284563051659 + 0.2565941056109774, + 0.3349722544002231, + 0.2506817548478144, + 0.2381543469987179, + 0.24683644583453473, + 0.23568051644134078 ], "count": [ 1190262 ], "q01": [ - -0.0053672599824821495, - -0.00735217629207234, - -0.007556171563304526 + -0.6597226854702452, + -0.6978191160152537, + 0.3128498947024772, + -0.9028211600438318, + 0.0889127363234208, + -0.5823896730938213 ], "q10": [ - -0.0014356837560613918, - -0.0024872157634789047, - -0.0022793607918578963 + -0.6287506705051813, + -0.6666703062774828, + 0.35040737468773436, + -0.884227078915229, + 0.12700087655327588, + -0.5503361759873812 ], "q50": [ - -6.6725266460079294e-06, - -2.788635970104113e-05, - 4.378516498521829e-05 + -0.5023021656848861, + -0.5020769474921651, + 0.527577259546099, + -0.7800353539378483, + 0.24244353914796068, + -0.4274288950894024 ], "q90": [ - 0.0009943946781314254, - 0.0015162856901664357, - 0.003308243430307336 + -0.32405037858286334, + -0.3715875489893193, + 0.6371194311637125, + -0.6369813478985287, + 0.41502041882356544, + -0.24717494530492284 ], "q99": [ - 0.004151468630209003, - 0.006120087670256982, - 0.007128357681230616 + -0.28201264457982905, + -0.3172293774684954, + 0.6729449797233235, + -0.6045634353321963, + 0.4551031087808112, + -0.208852150588122 ] }, - "debug.left_gripper_eef_rot6d": { + "raw_state.right_joint_vel": { "min": [ - -0.8866873383522034, - -0.46236932277679443, - -0.27472248673439026, - -0.46236932277679443, - -0.8866873979568481, - -0.8995904326438904 + -2.0360000133514404, + -2.38100004196167, + -2.8989999294281006, + -4.10699987411499, + -5.453000068664551, + -4.658999919891357 ], "max": [ - 1.000000238418579, - 0.4623693525791168, - 0.1699327826499939, - 0.4623693525791168, - 1.0000003576278687, - 0.8566157817840576 + 2.059000015258789, + 2.859999895095825, + 3.0940001010894775, + 4.60699987411499, + 4.744999885559082, + 5.521999835968018 ], "mean": [ - 0.9999246870853696, - -0.00024957011726433996, - -8.679261855200688e-06, - 0.00026509332061463016, - 0.9999032758995472, - 0.00027319358234718385 + 0.002472051529226473, + 0.03340057503344445, + -0.029372338065269333, + 0.002023938925449503, + -0.0006166141755958215, + -0.0030519760695948374 ], "std": [ - 0.0024690322163643387, - 0.009253739412315378, - 0.0076926865366045115, - 0.009254269225834768, - 0.0025861909155857473, - 0.010066664809116888 + 0.14932336833151447, + 0.3726062161099405, + 0.33982113642858225, + 0.24656543653472762, + 0.31776814503320255, + 0.28219460431087956 ], "count": [ 1190262 ], "q01": [ - 0.9990527506684653, - -0.022442144371683594, - -0.019198757445113065, - -0.019274868253565093, - 0.9988948391722471, - -0.024324265968988547 + -0.39095994019339914, + -0.7399446309981778, + -0.7792720133135764, + -0.6476106747659643, + -0.7538945917618284, + -0.6957832917827569 ], "q10": [ - 0.9997969040031344, - -0.006473317388018476, - -0.0049591588105983245, - -0.005621674952534828, - 0.9997294411891396, - -0.007141528095344052 - ], - "q50": [ - 0.9999925391604514, - 4.636926938051266e-06, - 2.8696783876135253e-06, - -5.983174957202363e-06, - 0.9999885997804434, - 6.578773132703142e-05 + -0.05252680475253182, + -0.2590891081855586, + -0.30580517563732135, + -0.12607037200226104, + -0.2192686651906185, + -0.16939564583385097 + ], + "q50": [ + 6.380942422333517e-05, + 0.0038665773915417634, + -0.001428793632243419, + 0.000423644307076126, + -0.001172945371308208, + -0.0005698309639416222 ], "q90": [ - 0.9999999121402102, - 0.005622966509901522, - 0.005087638382598285, - 0.00646726472827741, - 0.9999999037547745, - 0.008208548510890446 + 0.0648931510010537, + 0.3840178399070429, + 0.14260569323955608, + 0.13703868670716055, + 0.19828287836305492, + 0.14549021822066624 ], "q99": [ - 1.000000065733182, - 0.01931843606797888, - 0.018176378166947282, - 0.022506207781178712, - 1.000000095975891, - 0.023315796812621123 + 0.40215484754417197, + 0.8427277373650912, + 0.7249245112926548, + 0.6423695050458326, + 0.8331057590903624, + 0.7304841248572257 ] }, - "task_index": { + "debug.right_gripper_eef_xyz": { "min": [ - 0 + -0.21519312262535095, + -0.12984274327754974, + -0.43206727504730225 ], "max": [ - 24 + 0.12184130400419235, + 0.421103298664093, + 0.262596070766449 ], "mean": [ - 7.044290248701546 + -0.00012448339547393075, + -0.0002426488987508215, + 0.0002550610050406728 ], "std": [ - 6.08728484211291 + 0.002007257775620177, + 0.002912063836480495, + 0.003357284563051659 ], "count": [ 1190262 ], "q01": [ - 7.044290248701546 + -0.0053672599824821495, + -0.00735217629207234, + -0.007556171563304526 ], "q10": [ - 7.044290248701547 + -0.0014356837560613918, + -0.0024872157634789047, + -0.0022793607918578963 ], "q50": [ - 7.044290248701554 + -6.6725266460079294e-06, + -2.788635970104113e-05, + 4.378516498521829e-05 ], "q90": [ - 7.0442902487015635 + 0.0009943946781314254, + 0.0015162856901664357, + 0.003308243430307336 ], "q99": [ - 7.044290248701564 + 0.004151468630209003, + 0.006120087670256982, + 0.007128357681230616 ] }, - "action.right_eef_rot6d": { + "raw_state.left_gripper_state": { "min": [ - -1.0, - -0.9999997615814209, - -0.5599961280822754, - -0.9999938607215881, - -0.8773473501205444, - -0.9134827256202698 + -0.008100000210106373 ], "max": [ - 0.9267520904541016, - 0.9575486779212952, - 0.9999861121177673, - 0.9874096512794495, - 1.0, - 0.9944387674331665 + 0.09920000284910202 ], "mean": [ - -0.5453776085203058, - -0.40179131547367647, - 0.5468312657162803, - -0.17997934255752202, - 0.8248101793923686, - 0.3661289919031252 + 0.02791630066080174 ], "std": [ - 0.3227688963662716, - 0.25942271979821463, - 0.2657499428937769, - 0.24153508515605424, - 0.2165911595896287, - 0.21907658409932737 + 0.028599888433469035 ], "count": [ 1190262 ], "q01": [ - -0.7569110053464054, - -0.5928184116397903, - 0.313348394279952, - -0.3797597823391667, - 0.6556444573278801, - 0.16243439225744116 + 0.010764938140707465 ], "q10": [ - -0.7245183733742876, - -0.5574897337877847, - 0.3531986322405625, - -0.33223050607329624, - 0.6913526225126405, - 0.1991712333938739 + 0.011910287012420636 ], "q50": [ - -0.5342806026818163, - -0.412104911637145, - 0.5731963555949259, - -0.16650614818534035, - 0.8439252602673507, - 0.37613477414103635 + 0.024792476278562146 ], "q90": [ - -0.3721639863370687, - -0.23093513190722273, - 0.7071534450590701, - -0.04850371477257234, - 0.924321445606204, - 0.5178194029257368 + 0.0507834401850123 ], "q99": [ - -0.31540788073262194, - -0.1862166686687468, - 0.7413404883245975, - -0.0014767625441626372, - 0.9376099860941466, - 0.5555273585909006 + 0.05498357182005628 ] }, - "state.left_eef_xyz": { + "raw_state.left_joint_pos": { "min": [ - -0.025574803352355957, - -0.5172364711761475, - 0.013182041235268116 + -2.136366605758667, + -0.017949875444173813, + -2.9559032917022705, + -1.7966796159744263, + -1.3195165395736694, + -292.6617431640625 ], "max": [ - 0.5694496631622314, - 0.15098541975021362, - 0.5549294948577881 + 0.4361523389816284, + 2.8948493003845215, + 0.022171324118971825, + 1.7840152978897095, + 33070.77734375, + 2.173243284225464 ], "mean": [ - 0.17952018576800258, - -0.1213304748068099, - 0.2799664105255269 + -0.5447503868839202, + 1.106152378249364, + -0.918965895651728, + -0.19111079778809612, + 0.7199935114637099, + 0.13204706522876591 ], "std": [ - 0.11506747666487802, - 0.09061891808392239, - 0.06343806135999272 + 0.24440223451338217, + 0.6622603425515478, + 0.5761099063420537, + 0.43273464910452836, + 30.316938672927975, + 0.6198394047764999 ], "count": [ 1190262 ], "q01": [ - 0.09529572637193008, - -0.21368873078096595, - 0.21276857398768875 + -0.6746832143134905, + 0.6116969054469206, + -1.3684538702505002, + -0.4452353991486795, + 0.36932759730462816, + -0.1648500904169706 ], "q10": [ - 0.10682278978446813, - -0.20455350394372468, - 0.22592178458838355 + -0.6541429473404956, + 0.6871674781781585, + -1.3230525996146885, + -0.39002545694990204, + 0.43650347761510955, + -0.10191309335128622 ], "q50": [ - 0.16634538878764787, - -0.10311811828231046, - 0.2862566454536169 + -0.5437188434163622, + 1.0321055941195434, + -0.8426625792280225, + -0.16793626401510542, + 0.6975479462352185, + 0.11820903237840187 ], "q90": [ - 0.2637734301100429, - -0.06863148986498051, - 0.32127771501740304 + -0.4321166861559285, + 1.579988513826904, + -0.6030649518303838, + -0.019215668355911045, + 0.9136956115546339, + 0.37131581809619696 ], "q99": [ - 0.2765604781907778, - -0.05993431031407714, - 0.34078078868601713 + -0.41598975258873094, + 1.6334911244217905, + -0.5458881778664834, + 0.043832833556387, + 0.9459464954653146, + 0.43896197561564865 ] }, - "action.right_eef_xyz": { + "raw_state.left_eef_quat": { "min": [ - -0.06686300039291382, - -0.09445499628782272, - 0.012469000183045864 + -0.796191930770874, + -0.9999954700469971, + -0.713214099407196, + 0.0 ], "max": [ - 0.5607720017433167, - 0.4847860038280487, - 0.5070850253105164 + 0.9433185458183289, + 0.9999978542327881, + 0.7004187107086182, + 0.8421969413757324 ], "mean": [ - 0.181595143318832, - 0.10210562359471304, - 0.26930988433991143 + 0.2332744061518444, + 0.8244293462248712, + -0.14363427818118962, + 0.36077607077754864 ], "std": [ - 0.11764516922011553, - 0.08536851845911532, - 0.06449128909215364 + 0.15990637205389774, + 0.20036914745830287, + 0.12396961594542241, + 0.18445395105437573 ], "count": [ 1190262 ], "q01": [ - 0.08953339403860663, - 0.044530720173927, - 0.2006945654469096 + 0.10801017661557673, + 0.6466950800435955, + -0.23267762828057564, + 0.23462558906234257 ], "q10": [ - 0.10155984214971266, - 0.05107363301417648, - 0.21642160264914076 + 0.14229898862977966, + 0.7369334074061583, + -0.21482441493961155, + 0.25612100577482905 ], "q50": [ - 0.16647575373422, - 0.08333045904148653, - 0.2745219232286765 + 0.2332732220768354, + 0.8375786820042865, + -0.1487609892195928, + 0.3769096835638251 ], "q90": [ - 0.2749849251461211, - 0.18722804998967682, - 0.3113180562178245 + 0.32205886995074107, + 0.895683541659042, + -0.06406218413257105, + 0.4471797266739452 ], "q99": [ - 0.28560925526256903, - 0.2010473213831981, - 0.3319886333391132 + 0.34447539749967226, + 0.9062215746015784, + -0.04248028477226123, + 0.47267708820057674 ] }, - "action.right_joint_pos": { + "raw_state.right_eef_quat": { "min": [ - -0.5304895043373108, - -0.01788010075688362, - -2.8398656845092773, - -1.7779971361160278, - -1.3306632041931152, - -2.109398365020752 + -0.9606722593307495, + -0.9999988079071045, + -0.7005123496055603, + 0.0 ], "max": [ - 1.7347185611724854, - 2.9962687492370605, - 33070.77734375, - 1.7791833877563477, - 1.3048286437988281, - 2.1212427616119385 + 0.7701200842857361, + 0.999999463558197, + 0.695233166217804, + 0.9346736669540405 ], "mean": [ - 0.4822226720666372, - 1.0779679862232885, - -0.834740554027738, - 0.10972757670888648, - 0.6561104784037403, - -0.007318175168955715 + -0.17831986128230337, + 0.8131685706876454, + 0.13120240417833645, + 0.36613424563400937 ], "std": [ - 0.23009847845194137, - 0.6729530644477982, - 30.318102209174917, - 0.38187622747321576, - 0.5135976882299932, - 0.48194896207876825 + 0.1617754719321536, + 0.2862486758651215, + 0.11057346608676509, + 0.1880286173052939 ], "count": [ 1190262 ], "q01": [ - 0.32934862091824846, - 0.5412694413917228, - -1.327998816582662, - -0.13401242696982704, - 0.3068093821261069, - -0.3202328903908414 + -0.30027313868082933, + 0.46860952664918953, + 0.027130209044740193, + 0.2170012674249758 ], "q10": [ - 0.3463723141187808, - 0.6171733595485551, - -1.29596082040898, - -0.06796255472577567, - 0.3823741347002804, - -0.2591231440825181 + -0.2754031933162642, + 0.6405864042359772, + 0.05110941671920849, + 0.23905680015902242 ], "q50": [ - 0.48394340433698413, - 1.0027438546177, - -0.7858319997630691, - 0.09064882328142189, - 0.6588389426615966, - 0.00788550870653163 + -0.179116523128544, + 0.8494076880310436, + 0.13580235676168903, + 0.3848695685360431 ], "q90": [ - 0.6175679493076027, - 1.5845077546582529, - -0.5265966466476191, - 0.3142082609136106, - 0.9162879434095343, - 0.2310578394688588 + -0.07870932355286601, + 0.9148916959001138, + 0.20270919940985374, + 0.4729919393429212 ], "q99": [ - 0.637367490623611, - 1.6352203702785444, - -0.47087938515326994, - 0.36234107272108745, - 0.9743739728759746, - 0.30147314504757344 + -0.04111826488645484, + 0.9254142639005366, + 0.2254838314239244, + 0.5009954094593264 ] }, - "frame_index": { + "state.right_eef_rot6d": { "min": [ - 0 + -0.9572577476501465, + -1.0, + -0.6298283338546753, + -0.9999998807907104, + -0.9999944567680359, + -0.9134393334388733 ], "max": [ - 924 + 0.9999997019767761, + 0.9262025952339172, + 0.9999855160713196, + 0.8768270015716553, + 0.98734050989151, + 0.9943367838859558 ], "mean": [ - 154.12136403581732 + 0.40145970374384954, + -0.5452435443173427, + 0.5475412756540747, + -0.8251803781862789, + -0.17958366939989234, + 0.3660041382824994 ], "std": [ - 120.07121039889311 + 0.2592277969788017, + 0.3225902413137692, + 0.26547125078900813, + 0.21620992763595323, + 0.24132289467860288, + 0.21882620922128412 ], "count": [ 1190262 ], "q01": [ - 2.58607637973731 + 0.18608407629419849, + -0.7568674989185337, + 0.31391036713091913, + -0.937701976641629, + -0.37948976056818684, + 0.16253987211291218 ], "q10": [ - 30.38949299934331 + 0.23042226383337536, + -0.7248900603069078, + 0.35379712598779367, + -0.9248004553662674, + -0.33171100208953824, + 0.19921472730954526 ], "q50": [ - 153.90244944121528 + 0.4112636099761288, + -0.5341669854077947, + 0.5738090157801132, + -0.8445298725088042, + -0.16617869303386634, + 0.3760249978370115 ], "q90": [ - 277.762570915996 + 0.5567905192737689, + -0.3708565572500138, + 0.7085885780032605, + -0.6921616532683195, + -0.0478049997565543, + 0.5174316706438769 ], "q99": [ - 305.6470495982473 + 0.5925357365590552, + -0.31527769829784913, + 0.7416799018151832, + -0.6560245180145223, + -0.001317060909654023, + 0.5552716208401277 ] } } \ No newline at end of file