typoverflow commited on
Commit
ac3c8ad
·
verified ·
1 Parent(s): a7c4fcf

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:83aa1353bb112be49be5afad763e4644c6febdd76c47aa9f2beb6f2be73222e3
3
- size 2695570
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:05390acd01e29323eedd93ca37be0d96ef68d8ebab5d6dd56acc49b356439740
3
+ size 2695794
meta/episodes/chunk-000/file-000.parquet CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:7e21dcaf2241f7624e95daf72b79d07571b35a05fa08d066ac72e1bde9f489a3
3
- size 200270
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:400db02bde40a74f36cf0c061d71da00a17ac7f93f83b572ebe523bfefff5c77
3
+ size 200250
meta/stats.json CHANGED
@@ -1,34 +1,34 @@
1
  {
2
- "state.right_gripper_state": {
3
  "min": [
4
  0.0
5
  ],
6
  "max": [
7
- 0.9830000400543213
8
  ],
9
  "mean": [
10
- 0.1994351965988092
11
  ],
12
  "std": [
13
- 0.2125282729000291
14
  ],
15
  "count": [
16
  9428
17
  ],
18
  "q01": [
19
- 0.00036699180758879363
20
  ],
21
  "q10": [
22
- 0.08810433179084103
23
  ],
24
  "q50": [
25
- 0.13969697185530391
26
  ],
27
  "q90": [
28
- 0.3584974494037481
29
  ],
30
  "q99": [
31
- 0.920031695940741
32
  ]
33
  },
34
  "raw_state.left_eef_xyz": {
@@ -81,1074 +81,876 @@
81
  0.3266223834724651
82
  ]
83
  },
84
- "observation.images.cam_high": {
85
  "min": [
86
- [
87
- [
88
- 0.0
89
- ]
90
- ],
91
- [
92
- [
93
- 0.0
94
- ]
95
- ],
96
- [
97
- [
98
- 0.0
99
- ]
100
- ]
101
  ],
102
  "max": [
103
- [
104
- [
105
- 1.0
106
- ]
107
- ],
108
- [
109
- [
110
- 1.0
111
- ]
112
- ],
113
- [
114
- [
115
- 1.0
116
- ]
117
- ]
118
  ],
119
  "mean": [
120
- [
121
- [
122
- 0.465067811015572
123
- ]
124
- ],
125
- [
126
- [
127
- 0.4711363484800796
128
- ]
129
- ],
130
- [
131
- [
132
- 0.44975033441484513
133
- ]
134
- ]
135
  ],
136
  "std": [
137
- [
138
- [
139
- 0.01398385883472464
140
- ]
141
- ],
142
- [
143
- [
144
- 0.015670347689868507
145
- ]
146
- ],
147
- [
148
- [
149
- 0.019082595220097424
150
- ]
151
- ]
152
  ],
153
  "count": [
154
- 1464
155
  ],
156
  "q01": [
157
- [
158
- [
159
- 0.044289300436920184
160
- ]
161
- ],
162
- [
163
- [
164
- 0.06670209329850038
165
- ]
166
- ],
167
- [
168
- [
169
- 0.05483738293220244
170
- ]
171
- ]
172
  ],
173
  "q10": [
174
- [
175
- [
176
- 0.20447779029001822
177
- ]
178
- ],
179
- [
180
- [
181
- 0.20627646899067004
182
- ]
183
- ],
184
- [
185
- [
186
- 0.1747598897873486
187
- ]
188
- ]
189
  ],
190
  "q50": [
191
- [
192
- [
193
- 0.4856223850235367
194
- ]
195
- ],
196
- [
197
- [
198
- 0.5008020469350319
199
- ]
200
- ],
201
- [
202
- [
203
- 0.482030811885513
204
- ]
205
- ]
206
  ],
207
  "q90": [
208
- [
209
- [
210
- 0.6674985613485921
211
- ]
212
- ],
213
- [
214
- [
215
- 0.6706930124502924
216
- ]
217
- ],
218
- [
219
- [
220
- 0.6576126507126979
221
- ]
222
- ]
223
  ],
224
  "q99": [
225
- [
226
- [
227
- 0.7163889003838192
228
- ]
229
- ],
230
- [
231
- [
232
- 0.7266844503897898
233
- ]
234
- ],
235
- [
236
- [
237
- 0.7214691975635437
238
- ]
239
- ]
240
  ]
241
  },
242
- "raw_state.right_eef_xyz": {
243
  "min": [
244
- 0.05017399787902832,
245
- -0.06931301951408386,
246
- 0.061878882348537445
247
  ],
248
  "max": [
249
- 0.35670503973960876,
250
- 0.3381897807121277,
251
- 0.3594834804534912
252
  ],
253
  "mean": [
254
- 0.2012590650993798,
255
- 0.08196948221155652,
256
- 0.18784128833288705
257
  ],
258
  "std": [
259
- 0.1106812465491588,
260
- 0.10265163442420794,
261
- 0.041467732559486534
262
  ],
263
  "count": [
264
  9428
265
  ],
266
  "q01": [
267
- 0.055764491071093825,
268
- -0.0314329586200239,
269
- 0.09015099520371861
270
  ],
271
  "q10": [
272
- 0.11950910598720334,
273
- -0.011987251061739057,
274
- 0.14185337519770239
275
  ],
276
  "q50": [
277
- 0.17998295437262687,
278
- 0.09066101471837366,
279
- 0.18577884010161674
280
  ],
281
  "q90": [
282
- 0.29388761082868975,
283
- 0.18210083519039238,
284
- 0.23170799680807264
285
  ],
286
  "q99": [
287
- 0.309030391246394,
288
- 0.25362541639758795,
289
- 0.28306114560196244
290
  ]
291
  },
292
- "raw_state.right_eef_rot6d": {
293
  "min": [
294
- -0.9786626696586609,
295
- -0.9999867677688599,
296
- -0.19433212280273438,
297
- -0.9995797872543335,
298
- -0.04352208971977234,
299
- -0.27126169204711914
300
  ],
301
  "max": [
302
- 0.2916889786720276,
303
- 0.3418850302696228,
304
- 0.9999982714653015,
305
- 0.28942665457725525,
306
- 1.0,
307
- 0.5798259377479553
308
  ],
309
  "mean": [
310
- -0.2689545796105403,
311
- -0.4543554468114382,
312
- 0.43003759968916794,
313
- -0.43502803089861325,
314
- 0.6515944665538895,
315
- 0.046278552207534705
316
  ],
317
  "std": [
318
- 0.31177178884617407,
319
- 0.4688044419102095,
320
- 0.4683103279961205,
321
- 0.47087289918783687,
322
- 0.37975386612909595,
323
- 0.13453252511111435
324
  ],
325
  "count": [
326
  9428
327
  ],
328
  "q01": [
329
- -0.9492850930112483,
330
- -0.9964865321974276,
331
- -0.09889835140526279,
332
- -0.9847718279349733,
333
- 0.045140652408647015,
334
- -0.14887014657008737
335
  ],
336
  "q10": [
337
- -0.7944411677298259,
338
- -0.9626253013700802,
339
- 0.0005923953772640555,
340
- -0.9377708632484754,
341
- 0.19828482801258374,
342
- -0.06420807085804525
343
  ],
344
  "q50": [
345
- -0.16460514725694628,
346
- -0.5109448396214367,
347
- 0.4532226966641394,
348
- -0.490410327811514,
349
- 0.6360534111349508,
350
- 0.03296454903899156
351
  ],
352
  "q90": [
353
- 0.011726901189253403,
354
- 0.03778277951298139,
355
- 0.8141439669894658,
356
- 0.046514915993415895,
357
- 0.9983574464586432,
358
- 0.1848986830392535
359
  ],
360
  "q99": [
361
- 0.11345583581452859,
362
- 0.17561760620731984,
363
- 0.9979366298081422,
364
- 0.17509855323875664,
365
- 0.9999808976845526,
366
- 0.38789201162541176
367
  ]
368
  },
369
- "score": {
370
  "min": [
371
- 2.5
372
  ],
373
  "max": [
374
- 3.0
375
  ],
376
  "mean": [
377
- 2.948345354263895
378
  ],
379
  "std": [
380
- 0.15218120922745382
381
  ],
382
  "count": [
383
  9428
384
  ],
385
  "q01": [
386
- 2.948345354263895
387
  ],
388
  "q10": [
389
- 2.948345354263895
390
  ],
391
  "q50": [
392
- 2.948345354263895
393
  ],
394
  "q90": [
395
- 2.948345354263895
396
  ],
397
  "q99": [
398
- 2.948345354263895
399
  ]
400
  },
401
- "state.right_eef_rot6d": {
402
  "min": [
403
- -0.3376234769821167,
404
- -0.9782553911209106,
405
- -0.19272175431251526,
406
- -1.0,
407
- -0.999636173248291,
408
- -0.26823076605796814
409
  ],
410
  "max": [
411
- 0.9999694228172302,
412
- 0.2849836051464081,
413
- 0.9999995827674866,
414
- 0.04008765146136284,
415
- 0.2847576439380646,
416
- 0.5792723298072815
417
  ],
418
  "mean": [
419
- 0.4543744279360134,
420
- -0.26899686946320644,
421
- 0.43006177068761864,
422
- -0.6516270044057816,
423
- -0.4350537984850463,
424
- 0.046293290809870054
425
  ],
426
  "std": [
427
- 0.4687721532235303,
428
- 0.3117539767217297,
429
- 0.4682890956290115,
430
- 0.3797303639111443,
431
- 0.47083746997947035,
432
- 0.13447442870680074
433
  ],
434
  "count": [
435
  9428
436
  ],
437
  "q01": [
438
- -0.1750426221211128,
439
- -0.9494008365419896,
440
- -0.09870678209021683,
441
- -1.0,
442
- -0.9847752776023215,
443
- -0.1496456513634259
444
  ],
445
  "q10": [
446
- -0.03773799815854506,
447
- -0.7945687514939921,
448
- 0.0006109520941065382,
449
- -0.9982912479838578,
450
- -0.9373291162895838,
451
- -0.06367878600717801
452
  ],
453
  "q50": [
454
- 0.5109641351087372,
455
- -0.16452440920158887,
456
- 0.45335059509536924,
457
- -0.6359751329870819,
458
- -0.4903900505483549,
459
- 0.03297513281893992
460
  ],
461
  "q90": [
462
- 0.9622248880373407,
463
- 0.0117181033321495,
464
- 0.8151799232988767,
465
- -0.1986604774257782,
466
- 0.04661374085899338,
467
- 0.18478057623329572
468
  ],
469
  "q99": [
470
- 0.9964629753764043,
471
- 0.11399364266975617,
472
- 0.9979209545659872,
473
- -0.044879346478599265,
474
- 0.17332137643673767,
475
- 0.3873961143233513
476
  ]
477
  },
478
- "debug.left_gripper_eef_rot6d": {
479
  "min": [
480
- 0.9866636991500854,
481
- -0.15768828988075256,
482
- -0.049794021993875504,
483
- -0.09597138315439224,
484
- 0.9825771450996399,
485
- -0.11509381979703903
486
  ],
487
  "max": [
488
- 1.0000003576278687,
489
- 0.08823218196630478,
490
- 0.09433422982692719,
491
- 0.15270091593265533,
492
- 1.000000238418579,
493
- 0.08953917771577835
494
  ],
495
  "mean": [
496
- 0.9999481376622459,
497
- -0.00043279447158111223,
498
- -0.00012386288116349197,
499
- 0.00040549793372802144,
500
- 0.999931266570071,
501
- -0.0005557144383092591
502
  ],
503
  "std": [
504
- 0.00036189462242046584,
505
- 0.008788013023615971,
506
- 0.005155678313776508,
507
- 0.008717545390308527,
508
- 0.0004577850201184021,
509
- 0.007826442519214254
510
  ],
511
  "count": [
512
  9428
513
  ],
514
  "q01": [
515
- 0.9987814820011921,
516
- -0.03437538969565197,
517
- -0.019833486706078114,
518
- -0.017676940119422665,
519
- 0.9982755871727829,
520
- -0.026526424050414884
521
  ],
522
  "q10": [
523
- 0.999970231005751,
524
- -0.0005349677913736783,
525
- -0.00046940850772399825,
526
- -0.0006952132006544984,
527
- 0.999951922559289,
528
- -0.0006066255324222334
529
  ],
530
  "q50": [
531
- 0.9999995345883252,
532
- 2.22170498119021e-06,
533
- -2.84179414634075e-06,
534
- -4.740326692700559e-06,
535
- 0.9999993385130529,
536
- 1.8679423305745858e-06
537
  ],
538
  "q90": [
539
- 1.00000011388765,
540
- 0.0006895763965549216,
541
- 0.0003732659810891128,
542
- 0.0005279186163652164,
543
- 0.9999999863960177,
544
- 0.000337509259130782
545
  ],
546
  "q99": [
547
- 1.000000244229998,
548
- 0.017286556480949497,
549
- 0.012420797741214839,
550
- 0.034114365215797735,
551
- 1.000000132169685,
552
- 0.01572566403818898
553
  ]
554
  },
555
- "episode_index": {
556
  "min": [
557
- 0
558
  ],
559
  "max": [
560
- 5
561
  ],
562
  "mean": [
563
- 2.638629613915995
564
  ],
565
  "std": [
566
- 1.767746285485707
567
  ],
568
  "count": [
569
  9428
570
  ],
571
  "q01": [
572
- 2.6386296139159953
573
  ],
574
  "q10": [
575
- 2.638629613915999
576
  ],
577
  "q50": [
578
- 2.638629613916015
579
  ],
580
  "q90": [
581
- 2.6386296139160303
582
  ],
583
  "q99": [
584
- 2.6386296139160352
585
  ]
586
  },
587
- "timestamp": {
588
  "min": [
589
- 0.0
 
 
 
 
 
590
  ],
591
  "max": [
592
- 90.63333333333334
 
 
 
 
 
593
  ],
594
  "mean": [
595
- 31.734899589874132
 
 
 
 
 
596
  ],
597
  "std": [
598
- 22.992080000006155
 
 
 
 
 
599
  ],
600
  "count": [
601
  9428
602
  ],
603
  "q01": [
604
- 0.6194352122198573
605
- ],
 
 
 
 
 
606
  "q10": [
607
- 6.329785377235734
 
 
 
 
 
608
  ],
609
  "q50": [
610
- 31.727316202093025
 
 
 
 
 
611
  ],
612
  "q90": [
613
- 57.13246406414453
 
 
 
 
 
614
  ],
615
  "q99": [
616
- 62.85036396752841
 
 
 
 
 
617
  ]
618
  },
619
- "state.left_eef_xyz": {
620
  "min": [
621
- 0.04987091198563576,
622
- -0.11105705052614212,
623
- 0.08336132764816284
624
  ],
625
  "max": [
626
- 0.37314924597740173,
627
- 0.0004510684811975807,
628
- 0.3863280713558197
629
  ],
630
  "mean": [
631
- 0.2686926954973917,
632
- -0.05488930109000852,
633
- 0.1375579740259422
634
  ],
635
  "std": [
636
- 0.1338919369697199,
637
- 0.04170930143363049,
638
- 0.06857083043591275
639
  ],
640
  "count": [
641
  9428
642
  ],
643
  "q01": [
644
- 0.05560239868616167,
645
- -0.08440755590153436,
646
- 0.08748148225917052
647
  ],
648
  "q10": [
649
- 0.20296015817353588,
650
- -0.07879309187382948,
651
- 0.08780545584225011
652
  ],
653
  "q50": [
654
- 0.2524169583120618,
655
- -0.0468551326801952,
656
- 0.13336620729579335
657
  ],
658
  "q90": [
659
- 0.35739628934408724,
660
- -0.04176477343847102,
661
- 0.17211499634740027
662
  ],
663
  "q99": [
664
- 0.358426656653216,
665
- 3.3255656012300737e-07,
666
- 0.32707751682253394
667
  ]
668
  },
669
- "state.left_joint_pos": {
670
  "min": [
671
- -0.3000144064426422,
672
- -0.0029336123261600733,
673
- -1.3893600702285767,
674
- -1.2360011339187622,
675
- -0.1239314079284668,
676
- -0.29847660660743713
 
 
 
 
 
 
 
 
 
677
  ],
678
  "max": [
679
- 0.017099637538194656,
680
- 2.166489601135254,
681
- 0.0011299841571599245,
682
- 0.023053735494613647,
683
- 1.1679115295410156,
684
- 1.563146710395813
 
 
 
 
 
 
 
 
 
685
  ],
686
  "mean": [
687
- -0.1303192868505853,
688
- 1.4929343813624887,
689
- -0.8968151174122163,
690
- -0.1598571147998865,
691
- 0.6451988162525791,
692
- 1.0028835434085694
 
 
 
 
 
 
 
 
 
693
  ],
694
  "std": [
695
- 0.0906407585561851,
696
- 0.9277550025359258,
697
- 0.5448681989460228,
698
- 0.1249300015915258,
699
- 0.3402871939285015,
700
- 0.628177524370399
 
 
 
 
 
 
 
 
 
701
  ],
702
  "count": [
703
- 9428
704
  ],
705
  "q01": [
706
- -0.1961896661726389,
707
- 0.0008795600468266618,
708
- -1.24928235414633,
709
- -0.49313500243475006,
710
- -0.029121347858606553,
711
- -0.08713566290901396
 
 
 
 
 
 
 
 
 
712
  ],
713
  "q10": [
714
- -0.18834365105846354,
715
- 1.026509990116214,
716
- -1.2451161208430364,
717
- -0.19284706577371355,
718
- 0.49362348320839233,
719
- 0.6438860386208594
 
 
 
 
 
 
 
 
 
720
  ],
721
  "q50": [
722
- -0.11343596901506084,
723
- 1.3904643425433623,
724
- -0.8212359504076544,
725
- -0.15185024168737662,
726
- 0.5861286408229541,
727
- 0.937752359946752
 
 
 
 
 
 
 
 
 
728
  ],
729
  "q90": [
730
- -0.09816939050674785,
731
- 2.129923973464413,
732
- -0.6570840250539348,
733
- -0.12073194823113896,
734
- 0.8562695894600701,
735
- 1.4164422228958817
 
 
 
 
 
 
 
 
 
736
  ],
737
  "q99": [
738
- 0.003682914763981213,
739
- 2.1304259436406108,
740
- -0.002554118003076345,
741
- 0.0013994421480271048,
742
- 0.966175105490439,
743
- 1.4266069087834028
744
- ]
745
- },
746
- "raw_state.left_gripper_state": {
747
- "min": [
748
- 0.0
 
 
 
 
 
 
 
 
 
749
  ],
750
  "max": [
751
- 0.09889999777078629
752
  ],
753
  "mean": [
754
- 0.06988277350341776
755
  ],
756
  "std": [
757
- 0.041841036661814594
758
  ],
759
  "count": [
760
  9428
761
  ],
762
  "q01": [
763
- 0.0002639732086484548
764
  ],
765
  "q10": [
766
- 0.04925066028528372
767
  ],
768
  "q50": [
769
- 0.06026424802977092
770
  ],
771
  "q90": [
772
- 0.09787524432978224
773
  ],
774
  "q99": [
775
- 0.09866281652746046
776
  ]
777
  },
778
- "raw_state.right_gripper_state": {
779
  "min": [
780
- 0.0
 
 
781
  ],
782
  "max": [
783
- 0.09830000251531601
 
 
784
  ],
785
  "mean": [
786
- 0.01994351883052177
 
 
787
  ],
788
  "std": [
789
- 0.021252829273135983
 
 
790
  ],
791
  "count": [
792
  9428
793
  ],
794
  "q01": [
795
- 3.669909227958316e-05
 
 
796
  ],
797
  "q10": [
798
- 0.008810432364873869
 
 
799
  ],
800
  "q50": [
801
- 0.01396969693257651
 
 
802
  ],
803
  "q90": [
804
- 0.035849744174676304
 
 
805
  ],
806
  "q99": [
807
- 0.09200316853662548
 
 
808
  ]
809
  },
810
- "frame_index": {
811
  "min": [
812
- 0
 
 
 
 
 
813
  ],
814
  "max": [
815
- 2719
 
 
 
 
 
816
  ],
817
  "mean": [
818
- 952.046987696224
 
 
 
 
 
819
  ],
820
  "std": [
821
- 689.7624000001847
 
 
 
 
 
822
  ],
823
  "count": [
824
  9428
825
  ],
826
  "q01": [
827
- 18.583056369439486
 
 
 
 
 
828
  ],
829
  "q10": [
830
- 189.89356131939388
 
 
 
 
 
831
  ],
832
  "q50": [
833
- 951.8989562791684
 
 
 
 
 
834
  ],
835
  "q90": [
836
- 1713.9739219220146
 
 
 
 
 
837
  ],
838
  "q99": [
839
- 1885.510919023009
 
 
 
 
 
840
  ]
841
  },
842
- "raw_state.right_joint_pos": {
843
  "min": [
844
- -0.3310871124267578,
845
- -0.0004361000028438866,
846
- -1.580391526222229,
847
- -0.30342093110084534,
848
- -0.7573661208152771,
849
- -1.403143048286438
850
  ],
851
  "max": [
852
- 0.8737699389457703,
853
- 2.1773078441619873,
854
- 0.000819868000689894,
855
- 0.7706061601638794,
856
- 1.1437681913375854,
857
- 0.34505975246429443
858
  ],
859
  "mean": [
860
- 0.23985647204528435,
861
- 1.1502772307384554,
862
- -0.7079842665126428,
863
- 0.08691329040928512,
864
- 0.5601043284467256,
865
- -0.4359227253972068
866
  ],
867
  "std": [
868
- 0.2928268748815327,
869
- 0.8691724860649717,
870
- 0.5655821570529354,
871
- 0.17610402132583305,
872
- 0.46288866839399206,
873
- 0.4587764585075797
874
  ],
875
  "count": [
876
  9428
877
  ],
878
  "q01": [
879
- -0.13980701137116783,
880
- -0.0001263285505928851,
881
- -1.4099327755922049,
882
- -0.1279152575614352,
883
- -0.46281500837615624,
884
- -1.2914747284209245
885
  ],
886
  "q10": [
887
- -0.0490350637474784,
888
- 0.4807411025373465,
889
- -1.2173457491247333,
890
- -0.054271411517644995,
891
- 0.20559741541667934,
892
- -0.9482090114276092
893
  ],
894
  "q50": [
895
- 0.26912070214485123,
896
- 1.0076115022046426,
897
- -0.6523550001538021,
898
- 0.0614973529015286,
899
- 0.5893425173722376,
900
- -0.40906890444055316
901
  ],
902
  "q90": [
903
- 0.5319291799138581,
904
- 1.9268198303667747,
905
- -0.31318006530632064,
906
- 0.2591656243604816,
907
- 0.9586436719900201,
908
- -0.023324770654619544
909
  ],
910
  "q99": [
911
- 0.6770722760136092,
912
- 2.072977976947059,
913
- 7.777233166755202e-05,
914
- 0.5265157273758634,
915
- 1.0395647549248803,
916
- 0.10859758452302337
917
  ]
918
  },
919
- "raw_state.left_eef_rot6d": {
920
  "min": [
921
- -0.8315222859382629,
922
- -0.046471886336803436,
923
- -0.1259709894657135,
924
- -0.3703436851501465,
925
- 0.0036875891964882612,
926
- -0.49465078115463257
927
  ],
928
  "max": [
929
- 0.15628397464752197,
930
- 0.9997442364692688,
931
- 0.9999949336051941,
932
- 0.9982045888900757,
933
- 1.0,
934
- 0.004277330823242664
935
  ],
936
  "mean": [
937
- -0.10933022578964054,
938
- 0.7000734274373198,
939
- 0.2508510639736928,
940
- 0.685452609192177,
941
- 0.38416749448387055,
942
- -0.11285303837762364
943
  ],
944
  "std": [
945
- 0.11733047923878852,
946
- 0.4289638287446381,
947
- 0.4870779781644079,
948
- 0.44397916338107385,
949
- 0.40984236110790917,
950
- 0.06892856825898673
951
  ],
952
  "count": [
953
  9428
954
  ],
955
  "q01": [
956
- -0.5411832640302361,
957
- -0.003929131744380774,
958
- -0.09594966064692152,
959
- -0.1236134743859023,
960
- 0.07574167725256609,
961
- -0.3055383492963239
962
  ],
963
  "q10": [
964
- -0.15416396406771637,
965
- 0.4672685238991335,
966
- -0.09397660690710158,
967
- 0.44514575585754174,
968
- 0.08420304458740074,
969
- -0.12450203230907889
970
  ],
971
  "q50": [
972
- -0.09616301545815105,
973
- 0.6494046553045741,
974
- 0.3071407398715377,
975
- 0.634592400468245,
976
- 0.4359405780861432,
977
- -0.11184026923265017
978
  ],
979
  "q90": [
980
- -0.06123963113865957,
981
- 0.9914994939755162,
982
- 0.49887904562832713,
983
- 0.9876901315468524,
984
- 0.593813735856217,
985
- -0.09130964242820779
986
  ],
987
  "q99": [
988
- 0.09473939773012985,
989
- 0.9931097963601262,
990
- 0.9977690587856812,
991
- 0.9881324482520998,
992
- 0.999784589010238,
993
- -0.0004694715707978233
994
  ]
995
  },
996
- "observation.images.cam_left_wrist": {
997
  "min": [
998
- [
999
- [
1000
- 0.0
1001
- ]
1002
- ],
1003
- [
1004
- [
1005
- 0.0
1006
- ]
1007
- ],
1008
- [
1009
- [
1010
- 0.0
1011
- ]
1012
- ]
1013
  ],
1014
  "max": [
1015
- [
1016
- [
1017
- 1.0
1018
- ]
1019
- ],
1020
- [
1021
- [
1022
- 1.0
1023
- ]
1024
- ],
1025
- [
1026
- [
1027
- 1.0
1028
- ]
1029
- ]
1030
  ],
1031
  "mean": [
1032
- [
1033
- [
1034
- 0.474823310514438
1035
- ]
1036
- ],
1037
- [
1038
- [
1039
- 0.4801294663983536
1040
- ]
1041
- ],
1042
- [
1043
- [
1044
- 0.46966199881022536
1045
- ]
1046
- ]
1047
  ],
1048
  "std": [
1049
- [
1050
- [
1051
- 0.011575248203915053
1052
- ]
1053
- ],
1054
- [
1055
- [
1056
- 0.01757058030759693
1057
- ]
1058
- ],
1059
- [
1060
- [
1061
- 0.015388011684086813
1062
- ]
1063
- ]
1064
  ],
1065
  "count": [
1066
- 1464
1067
  ],
1068
  "q01": [
1069
- [
1070
- [
1071
- 0.027756108603426616
1072
- ]
1073
- ],
1074
- [
1075
- [
1076
- 0.08090697316873796
1077
- ]
1078
- ],
1079
- [
1080
- [
1081
- 0.050419607353245216
1082
- ]
1083
- ]
1084
  ],
1085
  "q10": [
1086
- [
1087
- [
1088
- 0.2631456996272677
1089
- ]
1090
- ],
1091
- [
1092
- [
1093
- 0.27205052626104465
1094
- ]
1095
- ],
1096
- [
1097
- [
1098
- 0.21707735717376017
1099
- ]
1100
- ]
1101
  ],
1102
  "q50": [
1103
- [
1104
- [
1105
- 0.5042575367584005
1106
- ]
1107
- ],
1108
- [
1109
- [
1110
- 0.5060844261847172
1111
- ]
1112
- ],
1113
- [
1114
- [
1115
- 0.5049169938070283
1116
- ]
1117
- ]
1118
  ],
1119
  "q90": [
1120
- [
1121
- [
1122
- 0.6441473281555622
1123
- ]
1124
- ],
1125
- [
1126
- [
1127
- 0.6407179651118643
1128
- ]
1129
- ],
1130
- [
1131
- [
1132
- 0.6353059698835025
1133
- ]
1134
- ]
1135
  ],
1136
  "q99": [
1137
- [
1138
- [
1139
- 0.7630186990715276
1140
- ]
1141
- ],
1142
- [
1143
- [
1144
- 0.7720505004874892
1145
- ]
1146
- ],
1147
- [
1148
- [
1149
- 0.7459253859633584
1150
- ]
1151
- ]
1152
  ]
1153
  },
1154
  "debug.right_gripper_eef_rot6d": {
@@ -1228,71 +1030,270 @@
1228
  0.044843374023116785
1229
  ]
1230
  },
1231
- "task_index": {
1232
  "min": [
1233
- 0
 
 
 
 
 
1234
  ],
1235
  "max": [
1236
- 0
 
 
 
 
 
1237
  ],
1238
  "mean": [
1239
- 0.0
 
 
 
 
 
1240
  ],
1241
  "std": [
1242
- 0.0
 
 
 
 
 
1243
  ],
1244
  "count": [
1245
  9428
1246
  ],
1247
  "q01": [
1248
- 3.999999999999417e-16
 
 
 
 
 
1249
  ],
1250
  "q10": [
1251
- 3.999999999999417e-15
 
 
 
 
 
1252
  ],
1253
  "q50": [
1254
- 1.999999999999709e-14
 
 
 
 
 
1255
  ],
1256
  "q90": [
1257
- 3.5999999999994754e-14
 
 
 
 
 
1258
  ],
1259
  "q99": [
1260
- 3.959999999999423e-14
 
 
 
 
 
1261
  ]
1262
  },
1263
- "index": {
1264
  "min": [
1265
- 0
 
 
 
 
 
1266
  ],
1267
  "max": [
1268
- 9427
 
 
 
 
 
1269
  ],
1270
  "mean": [
1271
- 4713.5
 
 
 
 
 
1272
  ],
1273
  "std": [
1274
- 2721.629153650438
 
 
 
 
 
1275
  ],
1276
  "count": [
1277
  9428
1278
  ],
1279
  "q01": [
1280
- 3780.036068673216
 
 
 
 
 
1281
  ],
1282
  "q10": [
1283
- 3951.34657362317
 
 
 
 
 
1284
  ],
1285
  "q50": [
1286
- 4713.351968582945
 
 
 
 
 
1287
  ],
1288
  "q90": [
1289
- 5475.426934225791
 
 
 
 
 
1290
  ],
1291
  "q99": [
1292
- 5646.963931326785
 
 
 
 
 
1293
  ]
1294
  },
1295
- "observation.images.cam_right_wrist": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1296
  "min": [
1297
  [
1298
  [
@@ -1330,34 +1331,34 @@
1330
  "mean": [
1331
  [
1332
  [
1333
- 0.46652958490146973
1334
  ]
1335
  ],
1336
  [
1337
  [
1338
- 0.4701894993738615
1339
  ]
1340
  ],
1341
  [
1342
  [
1343
- 0.43908808238687097
1344
  ]
1345
  ]
1346
  ],
1347
  "std": [
1348
  [
1349
  [
1350
- 0.005049969621942818
1351
  ]
1352
  ],
1353
  [
1354
  [
1355
- 0.00812037957686493
1356
  ]
1357
  ],
1358
  [
1359
  [
1360
- 0.01795551586966238
1361
  ]
1362
  ]
1363
  ],
@@ -1367,423 +1368,245 @@
1367
  "q01": [
1368
  [
1369
  [
1370
- 0.029214065556354796
1371
  ]
1372
  ],
1373
  [
1374
  [
1375
- 0.0762250937915531
1376
  ]
1377
  ],
1378
  [
1379
  [
1380
- 0.027130894062892087
1381
  ]
1382
  ]
1383
  ],
1384
  "q10": [
1385
  [
1386
  [
1387
- 0.29376839582676634
1388
  ]
1389
  ],
1390
  [
1391
  [
1392
- 0.28263792506373825
1393
  ]
1394
  ],
1395
  [
1396
  [
1397
- 0.1826274414698935
1398
  ]
1399
  ]
1400
  ],
1401
  "q50": [
1402
  [
1403
  [
1404
- 0.4827689290862978
1405
  ]
1406
  ],
1407
  [
1408
  [
1409
- 0.4861365374552483
1410
  ]
1411
  ],
1412
  [
1413
  [
1414
- 0.4591355202110817
1415
  ]
1416
  ]
1417
  ],
1418
  "q90": [
1419
  [
1420
  [
1421
- 0.6292221776514569
1422
  ]
1423
  ],
1424
  [
1425
  [
1426
- 0.6306561596479827
1427
  ]
1428
  ],
1429
  [
1430
  [
1431
- 0.6268743689217963
1432
  ]
1433
  ]
1434
  ],
1435
  "q99": [
1436
  [
1437
  [
1438
- 0.8288384765545972
1439
  ]
1440
  ],
1441
  [
1442
  [
1443
- 0.8115901391871592
1444
  ]
1445
  ],
1446
  [
1447
  [
1448
- 0.8392812267057504
1449
  ]
1450
  ]
1451
  ]
1452
  },
1453
- "debug.left_gripper_eef_xyz": {
1454
  "min": [
1455
- -0.007552049122750759,
1456
- -0.020148441195487976,
1457
- -0.018811868503689766
 
 
 
 
 
 
 
 
 
 
 
 
1458
  ],
1459
  "max": [
1460
- 0.010969935916364193,
1461
- 0.014556138776242733,
1462
- 0.026175430044531822
 
 
 
 
 
 
 
 
 
 
 
 
1463
  ],
1464
  "mean": [
1465
- -1.6223156222066068e-06,
1466
- 8.201849135900853e-05,
1467
- 0.000162128457875297
 
 
 
 
 
 
 
 
 
 
 
 
1468
  ],
1469
  "std": [
1470
- 0.0006515421065577504,
1471
- 0.001252832040148016,
1472
- 0.0020259576965249437
1473
- ],
1474
- "count": [
1475
- 9428
1476
- ],
1477
- "q01": [
1478
- -0.001951137671317038,
1479
- -0.002390226139261989,
1480
- -0.004421980312120962
1481
- ],
1482
- "q10": [
1483
- -5.428606043853498e-05,
1484
- -6.147985429652965e-05,
1485
- -5.08757386706098e-05
1486
- ],
1487
- "q50": [
1488
- -1.8186445842717244e-07,
1489
- -3.7498087963626504e-08,
1490
- 6.116725371582842e-07
1491
- ],
1492
- "q90": [
1493
- 4.1796285424590075e-05,
1494
- 0.00010502484880600038,
1495
- 0.0001594940797527406
1496
- ],
1497
- "q99": [
1498
- 0.0017589952483087485,
1499
- 0.005564026867837073,
1500
- 0.009461936305481925
1501
- ]
1502
- },
1503
- "debug.right_gripper_eef_xyz": {
1504
- "min": [
1505
- -0.01506885141134262,
1506
- -0.025552017614245415,
1507
- -0.01733049750328064
1508
- ],
1509
- "max": [
1510
- 0.013639959506690502,
1511
- 0.0176093690097332,
1512
- 0.028528885915875435
1513
- ],
1514
- "mean": [
1515
- -0.00011243371257717283,
1516
- 2.924925045210031e-06,
1517
- 0.00027084667810126436
1518
- ],
1519
- "std": [
1520
- 0.0013856259491935956,
1521
- 0.0029615488238105988,
1522
- 0.002977945983731025
1523
- ],
1524
- "count": [
1525
- 9428
1526
- ],
1527
- "q01": [
1528
- -0.005711365980625636,
1529
- -0.010186620451810053,
1530
- -0.008892849101627201
1531
- ],
1532
- "q10": [
1533
- -0.0006537732643772297,
1534
- -0.0018488111081780812,
1535
- -0.0010648166252730307
1536
- ],
1537
- "q50": [
1538
- 3.4762068413932737e-07,
1539
- -4.171608469517762e-07,
1540
- -4.652562484815681e-07
1541
- ],
1542
- "q90": [
1543
- 0.0002861356007290461,
1544
- 0.0022291530663756864,
1545
- 0.0022797409293877037
1546
- ],
1547
- "q99": [
1548
- 0.004264974875302925,
1549
- 0.008767947766243919,
1550
- 0.011156619350480427
1551
- ]
1552
- },
1553
- "state.right_joint_pos": {
1554
- "min": [
1555
- -0.3313736319541931,
1556
- -0.00156779692042619,
1557
- -1.5810569524765015,
1558
- -0.3037925362586975,
1559
- -0.7541787028312683,
1560
- -1.400880217552185
1561
- ],
1562
- "max": [
1563
- 0.8762496709823608,
1564
- 2.177473306655884,
1565
- 0.002484165830537677,
1566
- 0.7729164958000183,
1567
- 1.1410802602767944,
1568
- 0.343901127576828
1569
- ],
1570
- "mean": [
1571
- 0.2398420717230554,
1572
- 1.1502941812297325,
1573
- -0.707996907574826,
1574
- 0.08690102153849275,
1575
- 0.560092263639694,
1576
- -0.4359289917100725
1577
- ],
1578
- "std": [
1579
- 0.2928198035445659,
1580
- 0.869136934370873,
1581
- 0.5655585056098172,
1582
- 0.17603908085876807,
1583
- 0.46285431101770846,
1584
- 0.45873350005009944
1585
- ],
1586
- "count": [
1587
- 9428
1588
- ],
1589
- "q01": [
1590
- -0.13968633763670305,
1591
- -8.207818016218298e-05,
1592
- -1.4104612168626394,
1593
- -0.12805480972920982,
1594
- -0.46290244060284036,
1595
- -1.2910002971705368
1596
- ],
1597
- "q10": [
1598
- -0.04901602934953506,
1599
- 0.48378161496037947,
1600
- -1.216879142391804,
1601
- -0.05415179275950683,
1602
- 0.2057009775999331,
1603
- -0.9491799184349973
1604
- ],
1605
- "q50": [
1606
- 0.2687101597983469,
1607
- 1.0074995825904824,
1608
- -0.652110217466418,
1609
- 0.06147985554951819,
1610
- 0.5893538006745314,
1611
- -0.4092280863785568
1612
- ],
1613
- "q90": [
1614
- 0.5310895627033363,
1615
- 1.926638049046823,
1616
- -0.31279728260615414,
1617
- 0.2596711254784957,
1618
- 0.9579625138829779,
1619
- -0.023347114476217356
1620
- ],
1621
- "q99": [
1622
- 0.6774271693648162,
1623
- 2.0716194699207566,
1624
- 0.00011697230895084946,
1625
- 0.526510825324448,
1626
- 1.03994568757648,
1627
- 0.10894668063941192
1628
- ]
1629
- },
1630
- "state.left_eef_rot6d": {
1631
- "min": [
1632
- -0.04546186327934265,
1633
- -0.15578776597976685,
1634
- -0.1260155737400055,
1635
- 0.004088160581886768,
1636
- -0.9981935620307922,
1637
- -0.49502792954444885
1638
- ],
1639
- "max": [
1640
- 0.9997125864028931,
1641
- 0.8313083052635193,
1642
- 0.9999866485595703,
1643
- 1.0,
1644
- 0.3686979115009308,
1645
- 0.003935018088668585
1646
- ],
1647
- "mean": [
1648
- 0.7000735809376142,
1649
- 0.10933324161641961,
1650
- 0.25084143574043355,
1651
- 0.3841616001405299,
1652
- -0.685455422812111,
1653
- -0.11284078473496294
1654
- ],
1655
- "std": [
1656
- 0.42896779883518144,
1657
- 0.11731306905475898,
1658
- 0.48708254528194034,
1659
- 0.4098444578856351,
1660
- 0.4439872891443632,
1661
- 0.06889195205775167
1662
- ],
1663
- "count": [
1664
- 9428
1665
- ],
1666
- "q01": [
1667
- -0.003747321282436829,
1668
- -0.09510345107993909,
1669
- -0.09591863074158687,
1670
- 0.07579432693959516,
1671
- -0.988174353555151,
1672
- -0.30581363226038055
1673
- ],
1674
- "q10": [
1675
- 0.4673089863800352,
1676
- 0.061124460902119655,
1677
- -0.09391882077329027,
1678
- 0.0842582759717245,
1679
- -0.9877218348245509,
1680
- -0.12468286472923831
1681
- ],
1682
- "q50": [
1683
- 0.6494224584627172,
1684
- 0.09609750726556256,
1685
- 0.3071438649407502,
1686
- 0.43597493052678715,
1687
- -0.6348241748861377,
1688
- -0.11184484792706259
1689
- ],
1690
- "q90": [
1691
- 0.9915085517473866,
1692
- 0.1548738111001555,
1693
- 0.49883407181958805,
1694
- 0.5937743419541676,
1695
- -0.4452883931391932,
1696
- -0.09134789555175746
1697
- ],
1698
- "q99": [
1699
- 0.9930844063841235,
1700
- 0.5402488374290297,
1701
- 0.9978008619986491,
1702
- 0.9997859924300545,
1703
- 0.12447348352618069,
1704
- -0.0004101709471466523
1705
- ]
1706
- },
1707
- "state.right_eef_xyz": {
1708
- "min": [
1709
- 0.050188399851322174,
1710
- -0.06912286579608917,
1711
- 0.06146135553717613
1712
- ],
1713
- "max": [
1714
- 0.3569052219390869,
1715
- 0.3381789028644562,
1716
- 0.3595133125782013
1717
- ],
1718
- "mean": [
1719
- 0.20127382552694556,
1720
- 0.08196894822865061,
1721
- 0.18784296101826098
1722
- ],
1723
- "std": [
1724
- 0.11068139103993221,
1725
- 0.10264734891313365,
1726
- 0.041425217292972626
1727
- ],
1728
- "count": [
1729
- 9428
1730
- ],
1731
- "q01": [
1732
- 0.05574983152569831,
1733
- -0.03143616185659336,
1734
- 0.09093834570254601
1735
- ],
1736
- "q10": [
1737
- 0.11970597371318394,
1738
- -0.011940405163455256,
1739
- 0.14198467907717435
1740
- ],
1741
- "q50": [
1742
- 0.17998806866610653,
1743
- 0.09081794868405789,
1744
- 0.1857497628214064
1745
- ],
1746
- "q90": [
1747
- 0.29388396947738454,
1748
- 0.18241988763589892,
1749
- 0.23177326062120177
1750
- ],
1751
- "q99": [
1752
- 0.308990572723884,
1753
- 0.2534775569749675,
1754
- 0.28268406662215967
1755
- ]
1756
- },
1757
- "state.left_gripper_state": {
1758
- "min": [
1759
- 0.0
1760
- ],
1761
- "max": [
1762
- 0.9889999628067017
1763
- ],
1764
- "mean": [
1765
- 0.6988277635491648
1766
- ],
1767
- "std": [
1768
- 0.41841026233377493
1769
  ],
1770
  "count": [
1771
- 9428
1772
  ],
1773
  "q01": [
1774
- 0.002639732861732479
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1775
  ],
1776
  "q10": [
1777
- 0.49250657154227157
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1778
  ],
1779
  "q50": [
1780
- 0.6026424571771696
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1781
  ],
1782
  "q90": [
1783
- 0.9787524144054722
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1784
  ],
1785
  "q99": [
1786
- 0.9866281307185506
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1787
  ]
1788
  },
1789
  "raw_state.left_joint_pos": {
@@ -1863,36 +1686,213 @@
1863
  1.4265243973223998
1864
  ]
1865
  },
1866
- "success": {
1867
  "min": [
1868
- 0.0
1869
  ],
1870
  "max": [
1871
- 0.0
1872
  ],
1873
  "mean": [
1874
- 0.0
1875
  ],
1876
  "std": [
1877
- 0.0
1878
  ],
1879
  "count": [
1880
  9428
1881
  ],
1882
  "q01": [
1883
- 3.999578446212126e-16
1884
  ],
1885
  "q10": [
1886
- 3.999578446212126e-15
1887
  ],
1888
  "q50": [
1889
- 1.9997892231060632e-14
1890
  ],
1891
  "q90": [
1892
- 3.599620601590914e-14
1893
  ],
1894
  "q99": [
1895
- 3.959582661750005e-14
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1896
  ]
1897
  }
1898
  }
 
1
  {
2
+ "raw_state.right_gripper_state": {
3
  "min": [
4
  0.0
5
  ],
6
  "max": [
7
+ 0.09830000251531601
8
  ],
9
  "mean": [
10
+ 0.01994351883052177
11
  ],
12
  "std": [
13
+ 0.021252829273135983
14
  ],
15
  "count": [
16
  9428
17
  ],
18
  "q01": [
19
+ 3.669909227958316e-05
20
  ],
21
  "q10": [
22
+ 0.008810432364873869
23
  ],
24
  "q50": [
25
+ 0.01396969693257651
26
  ],
27
  "q90": [
28
+ 0.035849744174676304
29
  ],
30
  "q99": [
31
+ 0.09200316853662548
32
  ]
33
  },
34
  "raw_state.left_eef_xyz": {
 
81
  0.3266223834724651
82
  ]
83
  },
84
+ "state.left_eef_xyz": {
85
  "min": [
86
+ 0.04987091198563576,
87
+ -0.11105705052614212,
88
+ 0.08336132764816284
 
 
 
 
 
 
 
 
 
 
 
 
89
  ],
90
  "max": [
91
+ 0.37314924597740173,
92
+ 0.0004510684811975807,
93
+ 0.3863280713558197
 
 
 
 
 
 
 
 
 
 
 
 
94
  ],
95
  "mean": [
96
+ 0.2686926954973917,
97
+ -0.05488930109000852,
98
+ 0.1375579740259422
 
 
 
 
 
 
 
 
 
 
 
 
99
  ],
100
  "std": [
101
+ 0.1338919369697199,
102
+ 0.04170930143363049,
103
+ 0.06857083043591275
 
 
 
 
 
 
 
 
 
 
 
 
104
  ],
105
  "count": [
106
+ 9428
107
  ],
108
  "q01": [
109
+ 0.05560239868616167,
110
+ -0.08440755590153436,
111
+ 0.08748148225917052
 
 
 
 
 
 
 
 
 
 
 
 
112
  ],
113
  "q10": [
114
+ 0.20296015817353588,
115
+ -0.07879309187382948,
116
+ 0.08780545584225011
 
 
 
 
 
 
 
 
 
 
 
 
117
  ],
118
  "q50": [
119
+ 0.2524169583120618,
120
+ -0.0468551326801952,
121
+ 0.13336620729579335
 
 
 
 
 
 
 
 
 
 
 
 
122
  ],
123
  "q90": [
124
+ 0.35739628934408724,
125
+ -0.04176477343847102,
126
+ 0.17211499634740027
 
 
 
 
 
 
 
 
 
 
 
 
127
  ],
128
  "q99": [
129
+ 0.358426656653216,
130
+ 3.3255656012300737e-07,
131
+ 0.32707751682253394
 
 
 
 
 
 
 
 
 
 
 
 
132
  ]
133
  },
134
+ "timestamp": {
135
  "min": [
136
+ 0.0
 
 
137
  ],
138
  "max": [
139
+ 90.63333333333334
 
 
140
  ],
141
  "mean": [
142
+ 31.734899589874132
 
 
143
  ],
144
  "std": [
145
+ 22.992080000006155
 
 
146
  ],
147
  "count": [
148
  9428
149
  ],
150
  "q01": [
151
+ 0.6194352122198573
 
 
152
  ],
153
  "q10": [
154
+ 6.329785377235734
 
 
155
  ],
156
  "q50": [
157
+ 31.727316202093025
 
 
158
  ],
159
  "q90": [
160
+ 57.13246406414453
 
 
161
  ],
162
  "q99": [
163
+ 62.85036396752841
 
 
164
  ]
165
  },
166
+ "debug.left_gripper_eef_xyz": {
167
  "min": [
168
+ -0.007552049122750759,
169
+ -0.014556138776242733,
170
+ -0.026175430044531822
 
 
 
171
  ],
172
  "max": [
173
+ 0.010969935916364193,
174
+ 0.020148441195487976,
175
+ 0.018811868503689766
 
 
 
176
  ],
177
  "mean": [
178
+ -1.6223156222066068e-06,
179
+ -8.201849135900853e-05,
180
+ -0.000162128457875297
 
 
 
181
  ],
182
  "std": [
183
+ 0.0006515421065577504,
184
+ 0.001252832040148016,
185
+ 0.0020259576965249437
 
 
 
186
  ],
187
  "count": [
188
  9428
189
  ],
190
  "q01": [
191
+ -0.001951137671317038,
192
+ -0.00556402693079519,
193
+ -0.009461936675497924
 
 
 
194
  ],
195
  "q10": [
196
+ -5.428606043853498e-05,
197
+ -0.00010502497197058102,
198
+ -0.00016030845265786243
 
 
 
199
  ],
200
  "q50": [
201
+ -1.8186445842717244e-07,
202
+ 3.7256378064973344e-08,
203
+ -6.120505266262182e-07
 
 
 
204
  ],
205
  "q90": [
206
+ 4.1796285424590075e-05,
207
+ 6.147965161681228e-05,
208
+ 5.0875920936865596e-05
 
 
 
209
  ],
210
  "q99": [
211
+ 0.0017589952483087485,
212
+ 0.002390226020728028,
213
+ 0.004421980334261112
 
 
 
214
  ]
215
  },
216
+ "raw_state.left_gripper_state": {
217
  "min": [
218
+ 0.0
219
  ],
220
  "max": [
221
+ 0.09889999777078629
222
  ],
223
  "mean": [
224
+ 0.06988277350341776
225
  ],
226
  "std": [
227
+ 0.041841036661814594
228
  ],
229
  "count": [
230
  9428
231
  ],
232
  "q01": [
233
+ 0.0002639732086484548
234
  ],
235
  "q10": [
236
+ 0.04925066028528372
237
  ],
238
  "q50": [
239
+ 0.06026424802977092
240
  ],
241
  "q90": [
242
+ 0.09787524432978224
243
  ],
244
  "q99": [
245
+ 0.09866281652746046
246
  ]
247
  },
248
+ "frame_index": {
249
  "min": [
250
+ 0
 
 
 
 
 
251
  ],
252
  "max": [
253
+ 2719
 
 
 
 
 
254
  ],
255
  "mean": [
256
+ 952.046987696224
 
 
 
 
 
257
  ],
258
  "std": [
259
+ 689.7624000001847
 
 
 
 
 
260
  ],
261
  "count": [
262
  9428
263
  ],
264
  "q01": [
265
+ 18.583056369439486
 
 
 
 
 
266
  ],
267
  "q10": [
268
+ 189.89356131939388
 
 
 
 
 
269
  ],
270
  "q50": [
271
+ 951.8989562791684
 
 
 
 
 
272
  ],
273
  "q90": [
274
+ 1713.9739219220146
 
 
 
 
 
275
  ],
276
  "q99": [
277
+ 1885.510919023009
 
 
 
 
 
278
  ]
279
  },
280
+ "raw_state.right_joint_pos": {
281
  "min": [
282
+ -0.3310871124267578,
283
+ -0.0004361000028438866,
284
+ -1.580391526222229,
285
+ -0.30342093110084534,
286
+ -0.7573661208152771,
287
+ -1.403143048286438
288
  ],
289
  "max": [
290
+ 0.8737699389457703,
291
+ 2.1773078441619873,
292
+ 0.000819868000689894,
293
+ 0.7706061601638794,
294
+ 1.1437681913375854,
295
+ 0.34505975246429443
296
  ],
297
  "mean": [
298
+ 0.23985647204528435,
299
+ 1.1502772307384554,
300
+ -0.7079842665126428,
301
+ 0.08691329040928512,
302
+ 0.5601043284467256,
303
+ -0.4359227253972068
304
  ],
305
  "std": [
306
+ 0.2928268748815327,
307
+ 0.8691724860649717,
308
+ 0.5655821570529354,
309
+ 0.17610402132583305,
310
+ 0.46288866839399206,
311
+ 0.4587764585075797
312
  ],
313
  "count": [
314
  9428
315
  ],
316
  "q01": [
317
+ -0.13980701137116783,
318
+ -0.0001263285505928851,
319
+ -1.4099327755922049,
320
+ -0.1279152575614352,
321
+ -0.46281500837615624,
322
+ -1.2914747284209245
323
  ],
324
  "q10": [
325
+ -0.0490350637474784,
326
+ 0.4807411025373465,
327
+ -1.2173457491247333,
328
+ -0.054271411517644995,
329
+ 0.20559741541667934,
330
+ -0.9482090114276092
331
  ],
332
  "q50": [
333
+ 0.26912070214485123,
334
+ 1.0076115022046426,
335
+ -0.6523550001538021,
336
+ 0.0614973529015286,
337
+ 0.5893425173722376,
338
+ -0.40906890444055316
339
  ],
340
  "q90": [
341
+ 0.5319291799138581,
342
+ 1.9268198303667747,
343
+ -0.31318006530632064,
344
+ 0.2591656243604816,
345
+ 0.9586436719900201,
346
+ -0.023324770654619544
347
  ],
348
  "q99": [
349
+ 0.6770722760136092,
350
+ 2.072977976947059,
351
+ 7.777233166755202e-05,
352
+ 0.5265157273758634,
353
+ 1.0395647549248803,
354
+ 0.10859758452302337
355
  ]
356
  },
357
+ "state.left_gripper_state": {
358
  "min": [
359
+ 0.0
360
  ],
361
  "max": [
362
+ 0.9889999628067017
363
  ],
364
  "mean": [
365
+ 0.6988277635491648
366
  ],
367
  "std": [
368
+ 0.41841026233377493
369
  ],
370
  "count": [
371
  9428
372
  ],
373
  "q01": [
374
+ 0.002639732861732479
375
  ],
376
  "q10": [
377
+ 0.49250657154227157
378
  ],
379
  "q50": [
380
+ 0.6026424571771696
381
  ],
382
  "q90": [
383
+ 0.9787524144054722
384
  ],
385
  "q99": [
386
+ 0.9866281307185506
387
  ]
388
  },
389
+ "raw_state.left_eef_rot6d": {
390
  "min": [
391
+ -0.8315222859382629,
392
+ -0.046471886336803436,
393
+ -0.1259709894657135,
394
+ -0.3703436851501465,
395
+ 0.0036875891964882612,
396
+ -0.49465078115463257
397
  ],
398
  "max": [
399
+ 0.15628397464752197,
400
+ 0.9997442364692688,
401
+ 0.9999949336051941,
402
+ 0.9982045888900757,
403
+ 1.0,
404
+ 0.004277330823242664
405
  ],
406
  "mean": [
407
+ -0.10933022578964054,
408
+ 0.7000734274373198,
409
+ 0.2508510639736928,
410
+ 0.685452609192177,
411
+ 0.38416749448387055,
412
+ -0.11285303837762364
413
  ],
414
  "std": [
415
+ 0.11733047923878852,
416
+ 0.4289638287446381,
417
+ 0.4870779781644079,
418
+ 0.44397916338107385,
419
+ 0.40984236110790917,
420
+ 0.06892856825898673
421
  ],
422
  "count": [
423
  9428
424
  ],
425
  "q01": [
426
+ -0.5411832640302361,
427
+ -0.003929131744380774,
428
+ -0.09594966064692152,
429
+ -0.1236134743859023,
430
+ 0.07574167725256609,
431
+ -0.3055383492963239
432
+ ],
433
  "q10": [
434
+ -0.15416396406771637,
435
+ 0.4672685238991335,
436
+ -0.09397660690710158,
437
+ 0.44514575585754174,
438
+ 0.08420304458740074,
439
+ -0.12450203230907889
440
  ],
441
  "q50": [
442
+ -0.09616301545815105,
443
+ 0.6494046553045741,
444
+ 0.3071407398715377,
445
+ 0.634592400468245,
446
+ 0.4359405780861432,
447
+ -0.11184026923265017
448
  ],
449
  "q90": [
450
+ -0.06123963113865957,
451
+ 0.9914994939755162,
452
+ 0.49887904562832713,
453
+ 0.9876901315468524,
454
+ 0.593813735856217,
455
+ -0.09130964242820779
456
  ],
457
  "q99": [
458
+ 0.09473939773012985,
459
+ 0.9931097963601262,
460
+ 0.9977690587856812,
461
+ 0.9881324482520998,
462
+ 0.999784589010238,
463
+ -0.0004694715707978233
464
  ]
465
  },
466
+ "state.right_gripper_state": {
467
  "min": [
468
+ 0.0
 
 
469
  ],
470
  "max": [
471
+ 0.9830000400543213
 
 
472
  ],
473
  "mean": [
474
+ 0.1994351965988092
 
 
475
  ],
476
  "std": [
477
+ 0.2125282729000291
 
 
478
  ],
479
  "count": [
480
  9428
481
  ],
482
  "q01": [
483
+ 0.00036699180758879363
 
 
484
  ],
485
  "q10": [
486
+ 0.08810433179084103
 
 
487
  ],
488
  "q50": [
489
+ 0.13969697185530391
 
 
490
  ],
491
  "q90": [
492
+ 0.3584974494037481
 
 
493
  ],
494
  "q99": [
495
+ 0.920031695940741
 
 
496
  ]
497
  },
498
+ "observation.images.cam_right_wrist": {
499
  "min": [
500
+ [
501
+ [
502
+ 0.0
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.0
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.0
513
+ ]
514
+ ]
515
  ],
516
  "max": [
517
+ [
518
+ [
519
+ 1.0
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 1.0
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 1.0
530
+ ]
531
+ ]
532
  ],
533
  "mean": [
534
+ [
535
+ [
536
+ 0.46652958490146973
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.4701894993738615
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.43908808238687097
547
+ ]
548
+ ]
549
  ],
550
  "std": [
551
+ [
552
+ [
553
+ 0.005049969621942818
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.00812037957686493
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.01795551586966238
564
+ ]
565
+ ]
566
  ],
567
  "count": [
568
+ 1464
569
  ],
570
  "q01": [
571
+ [
572
+ [
573
+ 0.029214065556354796
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.0762250937915531
579
+ ]
580
+ ],
581
+ [
582
+ [
583
+ 0.027130894062892087
584
+ ]
585
+ ]
586
  ],
587
  "q10": [
588
+ [
589
+ [
590
+ 0.29376839582676634
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.28263792506373825
596
+ ]
597
+ ],
598
+ [
599
+ [
600
+ 0.1826274414698935
601
+ ]
602
+ ]
603
  ],
604
  "q50": [
605
+ [
606
+ [
607
+ 0.4827689290862978
608
+ ]
609
+ ],
610
+ [
611
+ [
612
+ 0.4861365374552483
613
+ ]
614
+ ],
615
+ [
616
+ [
617
+ 0.4591355202110817
618
+ ]
619
+ ]
620
  ],
621
  "q90": [
622
+ [
623
+ [
624
+ 0.6292221776514569
625
+ ]
626
+ ],
627
+ [
628
+ [
629
+ 0.6306561596479827
630
+ ]
631
+ ],
632
+ [
633
+ [
634
+ 0.6268743689217963
635
+ ]
636
+ ]
637
  ],
638
  "q99": [
639
+ [
640
+ [
641
+ 0.8288384765545972
642
+ ]
643
+ ],
644
+ [
645
+ [
646
+ 0.8115901391871592
647
+ ]
648
+ ],
649
+ [
650
+ [
651
+ 0.8392812267057504
652
+ ]
653
+ ]
654
+ ]
655
+ },
656
+ "task_index": {
657
+ "min": [
658
+ 0
659
  ],
660
  "max": [
661
+ 0
662
  ],
663
  "mean": [
664
+ 0.0
665
  ],
666
  "std": [
667
+ 0.0
668
  ],
669
  "count": [
670
  9428
671
  ],
672
  "q01": [
673
+ 3.999999999999417e-16
674
  ],
675
  "q10": [
676
+ 3.999999999999417e-15
677
  ],
678
  "q50": [
679
+ 1.999999999999709e-14
680
  ],
681
  "q90": [
682
+ 3.5999999999994754e-14
683
  ],
684
  "q99": [
685
+ 3.959999999999423e-14
686
  ]
687
  },
688
+ "state.right_eef_xyz": {
689
  "min": [
690
+ 0.050188399851322174,
691
+ -0.06912286579608917,
692
+ 0.06146135553717613
693
  ],
694
  "max": [
695
+ 0.3569052219390869,
696
+ 0.3381789028644562,
697
+ 0.3595133125782013
698
  ],
699
  "mean": [
700
+ 0.20127382552694556,
701
+ 0.08196894822865061,
702
+ 0.18784296101826098
703
  ],
704
  "std": [
705
+ 0.11068139103993221,
706
+ 0.10264734891313365,
707
+ 0.041425217292972626
708
  ],
709
  "count": [
710
  9428
711
  ],
712
  "q01": [
713
+ 0.05574983152569831,
714
+ -0.03143616185659336,
715
+ 0.09093834570254601
716
  ],
717
  "q10": [
718
+ 0.11970597371318394,
719
+ -0.011940405163455256,
720
+ 0.14198467907717435
721
  ],
722
  "q50": [
723
+ 0.17998806866610653,
724
+ 0.09081794868405789,
725
+ 0.1857497628214064
726
  ],
727
  "q90": [
728
+ 0.29388396947738454,
729
+ 0.18241988763589892,
730
+ 0.23177326062120177
731
  ],
732
  "q99": [
733
+ 0.308990572723884,
734
+ 0.2534775569749675,
735
+ 0.28268406662215967
736
  ]
737
  },
738
+ "state.right_joint_pos": {
739
  "min": [
740
+ -0.3313736319541931,
741
+ -0.00156779692042619,
742
+ -1.5810569524765015,
743
+ -0.3037925362586975,
744
+ -0.7541787028312683,
745
+ -1.400880217552185
746
  ],
747
  "max": [
748
+ 0.8762496709823608,
749
+ 2.177473306655884,
750
+ 0.002484165830537677,
751
+ 0.7729164958000183,
752
+ 1.1410802602767944,
753
+ 0.343901127576828
754
  ],
755
  "mean": [
756
+ 0.2398420717230554,
757
+ 1.1502941812297325,
758
+ -0.707996907574826,
759
+ 0.08690102153849275,
760
+ 0.560092263639694,
761
+ -0.4359289917100725
762
  ],
763
  "std": [
764
+ 0.2928198035445659,
765
+ 0.869136934370873,
766
+ 0.5655585056098172,
767
+ 0.17603908085876807,
768
+ 0.46285431101770846,
769
+ 0.45873350005009944
770
  ],
771
  "count": [
772
  9428
773
  ],
774
  "q01": [
775
+ -0.13968633763670305,
776
+ -8.207818016218298e-05,
777
+ -1.4104612168626394,
778
+ -0.12805480972920982,
779
+ -0.46290244060284036,
780
+ -1.2910002971705368
781
  ],
782
  "q10": [
783
+ -0.04901602934953506,
784
+ 0.48378161496037947,
785
+ -1.216879142391804,
786
+ -0.05415179275950683,
787
+ 0.2057009775999331,
788
+ -0.9491799184349973
789
  ],
790
  "q50": [
791
+ 0.2687101597983469,
792
+ 1.0074995825904824,
793
+ -0.652110217466418,
794
+ 0.06147985554951819,
795
+ 0.5893538006745314,
796
+ -0.4092280863785568
797
  ],
798
  "q90": [
799
+ 0.5310895627033363,
800
+ 1.926638049046823,
801
+ -0.31279728260615414,
802
+ 0.2596711254784957,
803
+ 0.9579625138829779,
804
+ -0.023347114476217356
805
  ],
806
  "q99": [
807
+ 0.6774271693648162,
808
+ 2.0716194699207566,
809
+ 0.00011697230895084946,
810
+ 0.526510825324448,
811
+ 1.03994568757648,
812
+ 0.10894668063941192
813
  ]
814
  },
815
+ "state.right_eef_rot6d": {
816
  "min": [
817
+ -0.3376234769821167,
818
+ -0.9782553911209106,
819
+ -0.19272175431251526,
820
+ -1.0,
821
+ -0.999636173248291,
822
+ -0.26823076605796814
823
  ],
824
  "max": [
825
+ 0.9999694228172302,
826
+ 0.2849836051464081,
827
+ 0.9999995827674866,
828
+ 0.04008765146136284,
829
+ 0.2847576439380646,
830
+ 0.5792723298072815
831
  ],
832
  "mean": [
833
+ 0.4543744279360134,
834
+ -0.26899686946320644,
835
+ 0.43006177068761864,
836
+ -0.6516270044057816,
837
+ -0.4350537984850463,
838
+ 0.046293290809870054
839
  ],
840
  "std": [
841
+ 0.4687721532235303,
842
+ 0.3117539767217297,
843
+ 0.4682890956290115,
844
+ 0.3797303639111443,
845
+ 0.47083746997947035,
846
+ 0.13447442870680074
847
  ],
848
  "count": [
849
  9428
850
  ],
851
  "q01": [
852
+ -0.1750426221211128,
853
+ -0.9494008365419896,
854
+ -0.09870678209021683,
855
+ -1.0,
856
+ -0.9847752776023215,
857
+ -0.1496456513634259
858
  ],
859
  "q10": [
860
+ -0.03773799815854506,
861
+ -0.7945687514939921,
862
+ 0.0006109520941065382,
863
+ -0.9982912479838578,
864
+ -0.9373291162895838,
865
+ -0.06367878600717801
866
  ],
867
  "q50": [
868
+ 0.5109641351087372,
869
+ -0.16452440920158887,
870
+ 0.45335059509536924,
871
+ -0.6359751329870819,
872
+ -0.4903900505483549,
873
+ 0.03297513281893992
874
  ],
875
  "q90": [
876
+ 0.9622248880373407,
877
+ 0.0117181033321495,
878
+ 0.8151799232988767,
879
+ -0.1986604774257782,
880
+ 0.04661374085899338,
881
+ 0.18478057623329572
882
  ],
883
  "q99": [
884
+ 0.9964629753764043,
885
+ 0.11399364266975617,
886
+ 0.9979209545659872,
887
+ -0.044879346478599265,
888
+ 0.17332137643673767,
889
+ 0.3873961143233513
890
  ]
891
  },
892
+ "score": {
893
  "min": [
894
+ 2.5
 
 
 
 
 
895
  ],
896
  "max": [
897
+ 3.0
 
 
 
 
 
898
  ],
899
  "mean": [
900
+ 2.948345354263895
 
 
 
 
 
901
  ],
902
  "std": [
903
+ 0.15218120922745382
 
 
 
 
 
904
  ],
905
  "count": [
906
  9428
907
  ],
908
  "q01": [
909
+ 2.948345354263895
 
 
 
 
 
910
  ],
911
  "q10": [
912
+ 2.948345354263895
 
 
 
 
 
913
  ],
914
  "q50": [
915
+ 2.948345354263895
 
 
 
 
 
916
  ],
917
  "q90": [
918
+ 2.948345354263895
 
 
 
 
 
919
  ],
920
  "q99": [
921
+ 2.948345354263895
 
 
 
 
 
922
  ]
923
  },
924
+ "index": {
925
  "min": [
926
+ 0
 
 
 
 
 
 
 
 
 
 
 
 
 
 
927
  ],
928
  "max": [
929
+ 9427
 
 
 
 
 
 
 
 
 
 
 
 
 
 
930
  ],
931
  "mean": [
932
+ 4713.5
 
 
 
 
 
 
 
 
 
 
 
 
 
 
933
  ],
934
  "std": [
935
+ 2721.629153650438
 
 
 
 
 
 
 
 
 
 
 
 
 
 
936
  ],
937
  "count": [
938
+ 9428
939
  ],
940
  "q01": [
941
+ 3780.036068673216
 
 
 
 
 
 
 
 
 
 
 
 
 
 
942
  ],
943
  "q10": [
944
+ 3951.34657362317
 
 
 
 
 
 
 
 
 
 
 
 
 
 
945
  ],
946
  "q50": [
947
+ 4713.351968582945
 
 
 
 
 
 
 
 
 
 
 
 
 
 
948
  ],
949
  "q90": [
950
+ 5475.426934225791
 
 
 
 
 
 
 
 
 
 
 
 
 
 
951
  ],
952
  "q99": [
953
+ 5646.963931326785
 
 
 
 
 
 
 
 
 
 
 
 
 
 
954
  ]
955
  },
956
  "debug.right_gripper_eef_rot6d": {
 
1030
  0.044843374023116785
1031
  ]
1032
  },
1033
+ "state.left_eef_rot6d": {
1034
  "min": [
1035
+ -0.04546186327934265,
1036
+ -0.8313083052635193,
1037
+ -0.9999866485595703,
1038
+ 0.004088160581886768,
1039
+ -0.3686979115009308,
1040
+ -0.003935018088668585
1041
  ],
1042
  "max": [
1043
+ 0.9997125864028931,
1044
+ 0.15578776597976685,
1045
+ 0.1260155737400055,
1046
+ 1.0,
1047
+ 0.9981935620307922,
1048
+ 0.49502792954444885
1049
  ],
1050
  "mean": [
1051
+ 0.7000735809376142,
1052
+ -0.10933324161641961,
1053
+ -0.25084143574043355,
1054
+ 0.3841616001405299,
1055
+ 0.685455422812111,
1056
+ 0.11284078473496294
1057
  ],
1058
  "std": [
1059
+ 0.42896779883518144,
1060
+ 0.11731306905475898,
1061
+ 0.48708254528194034,
1062
+ 0.4098444578856351,
1063
+ 0.4439872891443632,
1064
+ 0.06889195205775167
1065
  ],
1066
  "count": [
1067
  9428
1068
  ],
1069
  "q01": [
1070
+ -0.003747321282436829,
1071
+ -0.5402488046963246,
1072
+ -0.9978145239736416,
1073
+ 0.07579432693959516,
1074
+ -0.12447350583528001,
1075
+ 0.00040305442801825557
1076
  ],
1077
  "q10": [
1078
+ 0.4673089863800352,
1079
+ -0.15487379635736725,
1080
+ -0.49883409104009474,
1081
+ 0.0842582759717245,
1082
+ 0.4452883433297185,
1083
+ 0.09134790336570271
1084
  ],
1085
  "q50": [
1086
+ 0.6494224584627172,
1087
+ -0.09611145552875254,
1088
+ -0.3071437090223167,
1089
+ 0.43597493052678715,
1090
+ 0.6348241586455792,
1091
+ 0.111844853979314
1092
  ],
1093
  "q90": [
1094
+ 0.9915085517473866,
1095
+ -0.061124432565403994,
1096
+ 0.0939188557434547,
1097
+ 0.5937743419541676,
1098
+ 0.9877001327122498,
1099
+ 0.12468287063829188
1100
  ],
1101
  "q99": [
1102
+ 0.9930844063841235,
1103
+ 0.09510347637486614,
1104
+ 0.0959186132767153,
1105
+ 0.9997859924300545,
1106
+ 0.9881438756150721,
1107
+ 0.30581363348519025
1108
  ]
1109
  },
1110
+ "state.left_joint_pos": {
1111
  "min": [
1112
+ -0.3000144064426422,
1113
+ -0.0029336123261600733,
1114
+ -1.3893600702285767,
1115
+ -1.2360011339187622,
1116
+ -0.1239314079284668,
1117
+ -0.29847660660743713
1118
  ],
1119
  "max": [
1120
+ 0.017099637538194656,
1121
+ 2.166489601135254,
1122
+ 0.0011299841571599245,
1123
+ 0.023053735494613647,
1124
+ 1.1679115295410156,
1125
+ 1.563146710395813
1126
  ],
1127
  "mean": [
1128
+ -0.1303192868505853,
1129
+ 1.4929343813624887,
1130
+ -0.8968151174122163,
1131
+ -0.1598571147998865,
1132
+ 0.6451988162525791,
1133
+ 1.0028835434085694
1134
  ],
1135
  "std": [
1136
+ 0.0906407585561851,
1137
+ 0.9277550025359258,
1138
+ 0.5448681989460228,
1139
+ 0.1249300015915258,
1140
+ 0.3402871939285015,
1141
+ 0.628177524370399
1142
  ],
1143
  "count": [
1144
  9428
1145
  ],
1146
  "q01": [
1147
+ -0.1961896661726389,
1148
+ 0.0008795600468266618,
1149
+ -1.24928235414633,
1150
+ -0.49313500243475006,
1151
+ -0.029121347858606553,
1152
+ -0.08713566290901396
1153
  ],
1154
  "q10": [
1155
+ -0.18834365105846354,
1156
+ 1.026509990116214,
1157
+ -1.2451161208430364,
1158
+ -0.19284706577371355,
1159
+ 0.49362348320839233,
1160
+ 0.6438860386208594
1161
  ],
1162
  "q50": [
1163
+ -0.11343596901506084,
1164
+ 1.3904643425433623,
1165
+ -0.8212359504076544,
1166
+ -0.15185024168737662,
1167
+ 0.5861286408229541,
1168
+ 0.937752359946752
1169
  ],
1170
  "q90": [
1171
+ -0.09816939050674785,
1172
+ 2.129923973464413,
1173
+ -0.6570840250539348,
1174
+ -0.12073194823113896,
1175
+ 0.8562695894600701,
1176
+ 1.4164422228958817
1177
  ],
1178
  "q99": [
1179
+ 0.003682914763981213,
1180
+ 2.1304259436406108,
1181
+ -0.002554118003076345,
1182
+ 0.0013994421480271048,
1183
+ 0.966175105490439,
1184
+ 1.4266069087834028
1185
  ]
1186
  },
1187
+ "success": {
1188
+ "min": [
1189
+ 0.0
1190
+ ],
1191
+ "max": [
1192
+ 0.0
1193
+ ],
1194
+ "mean": [
1195
+ 0.0
1196
+ ],
1197
+ "std": [
1198
+ 0.0
1199
+ ],
1200
+ "count": [
1201
+ 9428
1202
+ ],
1203
+ "q01": [
1204
+ 3.999578446212126e-16
1205
+ ],
1206
+ "q10": [
1207
+ 3.999578446212126e-15
1208
+ ],
1209
+ "q50": [
1210
+ 1.9997892231060632e-14
1211
+ ],
1212
+ "q90": [
1213
+ 3.599620601590914e-14
1214
+ ],
1215
+ "q99": [
1216
+ 3.959582661750005e-14
1217
+ ]
1218
+ },
1219
+ "raw_state.right_eef_rot6d": {
1220
+ "min": [
1221
+ -0.9786626696586609,
1222
+ -0.9999867677688599,
1223
+ -0.19433212280273438,
1224
+ -0.9995797872543335,
1225
+ -0.04352208971977234,
1226
+ -0.27126169204711914
1227
+ ],
1228
+ "max": [
1229
+ 0.2916889786720276,
1230
+ 0.3418850302696228,
1231
+ 0.9999982714653015,
1232
+ 0.28942665457725525,
1233
+ 1.0,
1234
+ 0.5798259377479553
1235
+ ],
1236
+ "mean": [
1237
+ -0.2689545796105403,
1238
+ -0.4543554468114382,
1239
+ 0.43003759968916794,
1240
+ -0.43502803089861325,
1241
+ 0.6515944665538895,
1242
+ 0.046278552207534705
1243
+ ],
1244
+ "std": [
1245
+ 0.31177178884617407,
1246
+ 0.4688044419102095,
1247
+ 0.4683103279961205,
1248
+ 0.47087289918783687,
1249
+ 0.37975386612909595,
1250
+ 0.13453252511111435
1251
+ ],
1252
+ "count": [
1253
+ 9428
1254
+ ],
1255
+ "q01": [
1256
+ -0.9492850930112483,
1257
+ -0.9964865321974276,
1258
+ -0.09889835140526279,
1259
+ -0.9847718279349733,
1260
+ 0.045140652408647015,
1261
+ -0.14887014657008737
1262
+ ],
1263
+ "q10": [
1264
+ -0.7944411677298259,
1265
+ -0.9626253013700802,
1266
+ 0.0005923953772640555,
1267
+ -0.9377708632484754,
1268
+ 0.19828482801258374,
1269
+ -0.06420807085804525
1270
+ ],
1271
+ "q50": [
1272
+ -0.16460514725694628,
1273
+ -0.5109448396214367,
1274
+ 0.4532226966641394,
1275
+ -0.490410327811514,
1276
+ 0.6360534111349508,
1277
+ 0.03296454903899156
1278
+ ],
1279
+ "q90": [
1280
+ 0.011726901189253403,
1281
+ 0.03778277951298139,
1282
+ 0.8141439669894658,
1283
+ 0.046514915993415895,
1284
+ 0.9983574464586432,
1285
+ 0.1848986830392535
1286
+ ],
1287
+ "q99": [
1288
+ 0.11345583581452859,
1289
+ 0.17561760620731984,
1290
+ 0.9979366298081422,
1291
+ 0.17509855323875664,
1292
+ 0.9999808976845526,
1293
+ 0.38789201162541176
1294
+ ]
1295
+ },
1296
+ "observation.images.cam_left_wrist": {
1297
  "min": [
1298
  [
1299
  [
 
1331
  "mean": [
1332
  [
1333
  [
1334
+ 0.474823310514438
1335
  ]
1336
  ],
1337
  [
1338
  [
1339
+ 0.4801294663983536
1340
  ]
1341
  ],
1342
  [
1343
  [
1344
+ 0.46966199881022536
1345
  ]
1346
  ]
1347
  ],
1348
  "std": [
1349
  [
1350
  [
1351
+ 0.011575248203915053
1352
  ]
1353
  ],
1354
  [
1355
  [
1356
+ 0.01757058030759693
1357
  ]
1358
  ],
1359
  [
1360
  [
1361
+ 0.015388011684086813
1362
  ]
1363
  ]
1364
  ],
 
1368
  "q01": [
1369
  [
1370
  [
1371
+ 0.027756108603426616
1372
  ]
1373
  ],
1374
  [
1375
  [
1376
+ 0.08090697316873796
1377
  ]
1378
  ],
1379
  [
1380
  [
1381
+ 0.050419607353245216
1382
  ]
1383
  ]
1384
  ],
1385
  "q10": [
1386
  [
1387
  [
1388
+ 0.2631456996272677
1389
  ]
1390
  ],
1391
  [
1392
  [
1393
+ 0.27205052626104465
1394
  ]
1395
  ],
1396
  [
1397
  [
1398
+ 0.21707735717376017
1399
  ]
1400
  ]
1401
  ],
1402
  "q50": [
1403
  [
1404
  [
1405
+ 0.5042575367584005
1406
  ]
1407
  ],
1408
  [
1409
  [
1410
+ 0.5060844261847172
1411
  ]
1412
  ],
1413
  [
1414
  [
1415
+ 0.5049169938070283
1416
  ]
1417
  ]
1418
  ],
1419
  "q90": [
1420
  [
1421
  [
1422
+ 0.6441473281555622
1423
  ]
1424
  ],
1425
  [
1426
  [
1427
+ 0.6407179651118643
1428
  ]
1429
  ],
1430
  [
1431
  [
1432
+ 0.6353059698835025
1433
  ]
1434
  ]
1435
  ],
1436
  "q99": [
1437
  [
1438
  [
1439
+ 0.7630186990715276
1440
  ]
1441
  ],
1442
  [
1443
  [
1444
+ 0.7720505004874892
1445
  ]
1446
  ],
1447
  [
1448
  [
1449
+ 0.7459253859633584
1450
  ]
1451
  ]
1452
  ]
1453
  },
1454
+ "observation.images.cam_high": {
1455
  "min": [
1456
+ [
1457
+ [
1458
+ 0.0
1459
+ ]
1460
+ ],
1461
+ [
1462
+ [
1463
+ 0.0
1464
+ ]
1465
+ ],
1466
+ [
1467
+ [
1468
+ 0.0
1469
+ ]
1470
+ ]
1471
  ],
1472
  "max": [
1473
+ [
1474
+ [
1475
+ 1.0
1476
+ ]
1477
+ ],
1478
+ [
1479
+ [
1480
+ 1.0
1481
+ ]
1482
+ ],
1483
+ [
1484
+ [
1485
+ 1.0
1486
+ ]
1487
+ ]
1488
  ],
1489
  "mean": [
1490
+ [
1491
+ [
1492
+ 0.465067811015572
1493
+ ]
1494
+ ],
1495
+ [
1496
+ [
1497
+ 0.4711363484800796
1498
+ ]
1499
+ ],
1500
+ [
1501
+ [
1502
+ 0.44975033441484513
1503
+ ]
1504
+ ]
1505
  ],
1506
  "std": [
1507
+ [
1508
+ [
1509
+ 0.01398385883472464
1510
+ ]
1511
+ ],
1512
+ [
1513
+ [
1514
+ 0.015670347689868507
1515
+ ]
1516
+ ],
1517
+ [
1518
+ [
1519
+ 0.019082595220097424
1520
+ ]
1521
+ ]
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1522
  ],
1523
  "count": [
1524
+ 1464
1525
  ],
1526
  "q01": [
1527
+ [
1528
+ [
1529
+ 0.044289300436920184
1530
+ ]
1531
+ ],
1532
+ [
1533
+ [
1534
+ 0.06670209329850038
1535
+ ]
1536
+ ],
1537
+ [
1538
+ [
1539
+ 0.05483738293220244
1540
+ ]
1541
+ ]
1542
  ],
1543
  "q10": [
1544
+ [
1545
+ [
1546
+ 0.20447779029001822
1547
+ ]
1548
+ ],
1549
+ [
1550
+ [
1551
+ 0.20627646899067004
1552
+ ]
1553
+ ],
1554
+ [
1555
+ [
1556
+ 0.1747598897873486
1557
+ ]
1558
+ ]
1559
  ],
1560
  "q50": [
1561
+ [
1562
+ [
1563
+ 0.4856223850235367
1564
+ ]
1565
+ ],
1566
+ [
1567
+ [
1568
+ 0.5008020469350319
1569
+ ]
1570
+ ],
1571
+ [
1572
+ [
1573
+ 0.482030811885513
1574
+ ]
1575
+ ]
1576
  ],
1577
  "q90": [
1578
+ [
1579
+ [
1580
+ 0.6674985613485921
1581
+ ]
1582
+ ],
1583
+ [
1584
+ [
1585
+ 0.6706930124502924
1586
+ ]
1587
+ ],
1588
+ [
1589
+ [
1590
+ 0.6576126507126979
1591
+ ]
1592
+ ]
1593
  ],
1594
  "q99": [
1595
+ [
1596
+ [
1597
+ 0.7163889003838192
1598
+ ]
1599
+ ],
1600
+ [
1601
+ [
1602
+ 0.7266844503897898
1603
+ ]
1604
+ ],
1605
+ [
1606
+ [
1607
+ 0.7214691975635437
1608
+ ]
1609
+ ]
1610
  ]
1611
  },
1612
  "raw_state.left_joint_pos": {
 
1686
  1.4265243973223998
1687
  ]
1688
  },
1689
+ "episode_index": {
1690
  "min": [
1691
+ 0
1692
  ],
1693
  "max": [
1694
+ 5
1695
  ],
1696
  "mean": [
1697
+ 2.638629613915995
1698
  ],
1699
  "std": [
1700
+ 1.767746285485707
1701
  ],
1702
  "count": [
1703
  9428
1704
  ],
1705
  "q01": [
1706
+ 2.6386296139159953
1707
  ],
1708
  "q10": [
1709
+ 2.638629613915999
1710
  ],
1711
  "q50": [
1712
+ 2.638629613916015
1713
  ],
1714
  "q90": [
1715
+ 2.6386296139160303
1716
  ],
1717
  "q99": [
1718
+ 2.6386296139160352
1719
+ ]
1720
+ },
1721
+ "debug.right_gripper_eef_xyz": {
1722
+ "min": [
1723
+ -0.01506885141134262,
1724
+ -0.025552017614245415,
1725
+ -0.01733049750328064
1726
+ ],
1727
+ "max": [
1728
+ 0.013639959506690502,
1729
+ 0.0176093690097332,
1730
+ 0.028528885915875435
1731
+ ],
1732
+ "mean": [
1733
+ -0.00011243371257717283,
1734
+ 2.924925045210031e-06,
1735
+ 0.00027084667810126436
1736
+ ],
1737
+ "std": [
1738
+ 0.0013856259491935956,
1739
+ 0.0029615488238105988,
1740
+ 0.002977945983731025
1741
+ ],
1742
+ "count": [
1743
+ 9428
1744
+ ],
1745
+ "q01": [
1746
+ -0.005711365980625636,
1747
+ -0.010186620451810053,
1748
+ -0.008892849101627201
1749
+ ],
1750
+ "q10": [
1751
+ -0.0006537732643772297,
1752
+ -0.0018488111081780812,
1753
+ -0.0010648166252730307
1754
+ ],
1755
+ "q50": [
1756
+ 3.4762068413932737e-07,
1757
+ -4.171608469517762e-07,
1758
+ -4.652562484815681e-07
1759
+ ],
1760
+ "q90": [
1761
+ 0.0002861356007290461,
1762
+ 0.0022291530663756864,
1763
+ 0.0022797409293877037
1764
+ ],
1765
+ "q99": [
1766
+ 0.004264974875302925,
1767
+ 0.008767947766243919,
1768
+ 0.011156619350480427
1769
+ ]
1770
+ },
1771
+ "raw_state.right_eef_xyz": {
1772
+ "min": [
1773
+ 0.05017399787902832,
1774
+ -0.06931301951408386,
1775
+ 0.061878882348537445
1776
+ ],
1777
+ "max": [
1778
+ 0.35670503973960876,
1779
+ 0.3381897807121277,
1780
+ 0.3594834804534912
1781
+ ],
1782
+ "mean": [
1783
+ 0.2012590650993798,
1784
+ 0.08196948221155652,
1785
+ 0.18784128833288705
1786
+ ],
1787
+ "std": [
1788
+ 0.1106812465491588,
1789
+ 0.10265163442420794,
1790
+ 0.041467732559486534
1791
+ ],
1792
+ "count": [
1793
+ 9428
1794
+ ],
1795
+ "q01": [
1796
+ 0.055764491071093825,
1797
+ -0.0314329586200239,
1798
+ 0.09015099520371861
1799
+ ],
1800
+ "q10": [
1801
+ 0.11950910598720334,
1802
+ -0.011987251061739057,
1803
+ 0.14185337519770239
1804
+ ],
1805
+ "q50": [
1806
+ 0.17998295437262687,
1807
+ 0.09066101471837366,
1808
+ 0.18577884010161674
1809
+ ],
1810
+ "q90": [
1811
+ 0.29388761082868975,
1812
+ 0.18210083519039238,
1813
+ 0.23170799680807264
1814
+ ],
1815
+ "q99": [
1816
+ 0.309030391246394,
1817
+ 0.25362541639758795,
1818
+ 0.28306114560196244
1819
+ ]
1820
+ },
1821
+ "debug.left_gripper_eef_rot6d": {
1822
+ "min": [
1823
+ 0.9866636991500854,
1824
+ -0.08823218196630478,
1825
+ -0.09433422982692719,
1826
+ -0.15270091593265533,
1827
+ 0.9825771450996399,
1828
+ -0.11509381979703903
1829
+ ],
1830
+ "max": [
1831
+ 1.0000003576278687,
1832
+ 0.15768828988075256,
1833
+ 0.049794021993875504,
1834
+ 0.09597138315439224,
1835
+ 1.000000238418579,
1836
+ 0.08953917771577835
1837
+ ],
1838
+ "mean": [
1839
+ 0.9999481376622459,
1840
+ 0.00043279447158111223,
1841
+ 0.00012386288116349197,
1842
+ -0.00040549793372802144,
1843
+ 0.999931266570071,
1844
+ -0.0005557144383092591
1845
+ ],
1846
+ "std": [
1847
+ 0.00036189462242046584,
1848
+ 0.008788013023615971,
1849
+ 0.005155678313776508,
1850
+ 0.008717545390308527,
1851
+ 0.0004577850201184021,
1852
+ 0.007826442519214254
1853
+ ],
1854
+ "count": [
1855
+ 9428
1856
+ ],
1857
+ "q01": [
1858
+ 0.9987814820011921,
1859
+ -0.017286560692238447,
1860
+ -0.012420795892033125,
1861
+ -0.034114364217883816,
1862
+ 0.9982755871727829,
1863
+ -0.026526424050414884
1864
+ ],
1865
+ "q10": [
1866
+ 0.999970231005751,
1867
+ -0.0006895826147235069,
1868
+ -0.00037326352016912086,
1869
+ -0.0005279202647231958,
1870
+ 0.999951922559289,
1871
+ -0.0006066255324222334
1872
+ ],
1873
+ "q50": [
1874
+ 0.9999995345883252,
1875
+ -2.231241426380189e-06,
1876
+ 2.8444533718042243e-06,
1877
+ 4.7359923899204464e-06,
1878
+ 0.9999993385130529,
1879
+ 1.8679423305745858e-06
1880
+ ],
1881
+ "q90": [
1882
+ 1.00000011388765,
1883
+ 0.0005349634199067266,
1884
+ 0.00046637219482411295,
1885
+ 0.0006952122785469967,
1886
+ 0.9999999863960177,
1887
+ 0.000337509259130782
1888
+ ],
1889
+ "q99": [
1890
+ 1.000000244229998,
1891
+ 0.03437538357151259,
1892
+ 0.019833488562490082,
1893
+ 0.01767693787704921,
1894
+ 1.000000132169685,
1895
+ 0.01572566403818898
1896
  ]
1897
  }
1898
  }