shuver commited on
Commit
5f84e01
·
verified ·
1 Parent(s): 46ebfb9

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001012.parquet +3 -0
  2. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001036.parquet +3 -0
  3. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001038.parquet +3 -0
  4. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001053.parquet +3 -0
  5. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001058.parquet +3 -0
  6. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001071.parquet +3 -0
  7. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001085.parquet +3 -0
  8. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001086.parquet +3 -0
  9. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001106.parquet +3 -0
  10. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001138.parquet +3 -0
  11. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001180.parquet +3 -0
  12. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001192.parquet +3 -0
  13. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001194.parquet +3 -0
  14. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001247.parquet +3 -0
  15. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001262.parquet +3 -0
  16. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001278.parquet +3 -0
  17. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001299.parquet +3 -0
  18. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001316.parquet +3 -0
  19. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001408.parquet +3 -0
  20. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001419.parquet +3 -0
  21. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001420.parquet +3 -0
  22. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001423.parquet +3 -0
  23. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001430.parquet +3 -0
  24. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001435.parquet +3 -0
  25. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001438.parquet +3 -0
  26. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001490.parquet +3 -0
  27. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001491.parquet +3 -0
  28. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001520.parquet +3 -0
  29. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001539.parquet +3 -0
  30. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001594.parquet +3 -0
  31. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001641.parquet +3 -0
  32. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001714.parquet +3 -0
  33. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001722.parquet +3 -0
  34. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001800.parquet +3 -0
  35. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001810.parquet +3 -0
  36. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001821.parquet +3 -0
  37. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001825.parquet +3 -0
  38. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001852.parquet +3 -0
  39. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001864.parquet +3 -0
  40. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001867.parquet +3 -0
  41. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001895.parquet +3 -0
  42. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001949.parquet +3 -0
  43. cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001969.parquet +3 -0
  44. cmr-surgical-60hz-fixed/prostatectomy/meta/episodes.jsonl +0 -0
  45. cmr-surgical-60hz-fixed/prostatectomy/meta/info.json +142 -0
  46. cmr-surgical-60hz-fixed/prostatectomy/meta/modality-28D.json +164 -0
  47. cmr-surgical-60hz-fixed/prostatectomy/meta/modality.json +140 -0
  48. cmr-surgical-60hz-fixed/prostatectomy/meta/stats_cosmos-28D.json +782 -0
  49. cmr-surgical-60hz-fixed/prostatectomy/meta/stats_cosmos.json +626 -0
  50. cmr-surgical-60hz-fixed/prostatectomy/meta/tasks.jsonl +0 -0
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001012.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c212010f607966960ea8ed46edcd4076760fedf344305170294ade87cc878928
3
+ size 678244
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001036.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37be68714e27697a63564489e6de678d07d2f97fe9da243c55dcee9152d4db8e
3
+ size 726247
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001038.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aff0aebc7f5f464a78d06623b89235b400a29b734ed3af5167bc42a0dc25ff1f
3
+ size 723302
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001053.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22b22cb9d0915f4b6f31a942c69c4d760c27f544218bf0958110e75d788b2ad0
3
+ size 743362
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001058.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9492b008fff33915bbfee2ef1d6af78329584681accc2799765e590c5e0daf43
3
+ size 731676
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001071.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b6be7d312ee3a0def9073d24d721f9a95ae198527c441eb754dfa2ebc6c5fa1f
3
+ size 730845
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001085.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bee43ba59fb87c1de9048317cd939a4f6f279f9fa0b69040a97a6b07282c24e5
3
+ size 745635
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001086.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1c66dcaee6403621e63a4e435cdbfe26b86b62b3163470ceb482c887a691ed8
3
+ size 737238
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001106.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c81428b77276e94316be4b45dc1656b68e6220b7aab32a3b623c8d80d5bff45
3
+ size 727589
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001138.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0baa50f65778535eff2c650268e02453fe27026af6baa93fcd3bd1b298d9eed6
3
+ size 681726
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001180.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68a9d03b3243094ac88ba48fef92eb01d24f59f3a12cc40725d57ae60c02a845
3
+ size 736542
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001192.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3f5aab3c1a8f59db07ef1a7ce35fc35dd4f9c6db35201f847906cc347b69539e
3
+ size 739538
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001194.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7854e679320d1e9e11c83318e6cfb3034878e7918b52fc4927aff0748a94aac1
3
+ size 738186
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001247.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe182469956fdb3ee69c283c9b77f15e056fca060a54c854576633b00c6466df
3
+ size 742710
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001262.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d69bc56e601d2cb3989dcd43e5d1d33dd0ffbbbda5718b3c01ea4759dcb1e1e9
3
+ size 720144
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001278.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e482c8235880d805dfb8ecadea1b81ad7be60681a3e65a4dd29106cce4f62e26
3
+ size 197132
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001299.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b18813054fba5bd7013f93517d5959d825e868fec87a4303c3f2cb1a71ad8f6
3
+ size 742958
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001316.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cdc0d8d642c3b902fe32422bfa9bee44a6fa21b5c82a04e2e9534a025ef26d0f
3
+ size 728812
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001408.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:545f7430e39e2cce86e7edb5c09965ba64aa45ab13e13e3b680ef1a72933ac11
3
+ size 725504
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001419.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6639e74567f39a617c352bf3c65e9ef3098346a4495dc9f924227cdbba082495
3
+ size 712619
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001420.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c17cc2b75b4a51acf199523bbe051d68c1d50929f775b1effc26bfb293b5b03
3
+ size 711714
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001423.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5ef19f3eb9d7db3f9f915ad52a7351cd8178cf2c276b54d9a03af8c6705244f
3
+ size 731277
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001430.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c29d6471d9ab8bd522bc3868d58b3c66d3aa0b9a222bda2d7776c2e2b1c6dee8
3
+ size 720298
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001435.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4563a3b1a21cba25d7addad87a9bb06983423df59674985cd6c33d476870ba73
3
+ size 734355
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001438.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:133d4149d609db673acd0fb39e36b9ab334febef0ea5ba01f46e0770ae7c9814
3
+ size 713954
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001490.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68741c98ae4f0cd6ca7110b993daaa796658c5522e1fe6e948a98e614519f697
3
+ size 707606
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001491.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60fd7f8384b13d19d2e2077c54af2fb007f4af1d9e6784c11364bd50f9c344c7
3
+ size 715406
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001520.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cbf03b9616bffd287cb6dde27ccc057037ec3dee7d249620adcc10251322a53e
3
+ size 718189
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001539.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ceb14025973fb5cc30af8428f1ea3b08be937620293db1f4f83a6c607c4184d
3
+ size 700958
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001594.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a5f83f36b861364bd2fbb9aa5eb57bb7400cc30ae35aa094e31d97a2bd912d2e
3
+ size 703429
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001641.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8bf588dfa075e6e690fe3d1f00842ca88bf2d194cd5d53df85e7e6c11b5d641e
3
+ size 734653
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001714.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fba9487c62a5b8784fd67176854c8fcf1444a7d9fee844c277181144893f40f
3
+ size 522268
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001722.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8345b9c70bbc23429ca7c71bdd9c71bc35b023e75d1d4a62d885e0b6bcaca751
3
+ size 722963
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001800.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd83e12b223547369950140aebe91887cde0227faf924df500084f734bf1f6e9
3
+ size 726989
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001810.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:23b02a8ff70fd9a159403411e2e00ee2a86bc862c2161ecde5297382bf5e8b20
3
+ size 723332
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001821.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b576bc233c7f71638124e3aed425e4f733156c7a513b163bd004f006f4d557cb
3
+ size 708064
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001825.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50c8bf575e8f4d058223cf55519ae12c5228d0daf581f5ff098111e6a41eac22
3
+ size 699374
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001852.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7fff26ce4fcc062f2b76f984775b2b33bef61cc58f57a0ad008607ef45463aa2
3
+ size 696943
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001864.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81a1445dd19bc84ae10895fc8bf995df670aaf82c3676e4862c53bc8e32aa592
3
+ size 329673
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001867.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5cc627110a271f1842c4653bcdc9dc4fd4cc3b4b21b683884147dbbf17494533
3
+ size 705283
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001895.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec0d289c8099f33ef0a1b3a119ccfc5b6ca6fe62c31a6acfd60608ba46f82ae7
3
+ size 720238
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001949.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d7c984ccc2fe890bf4c37dc826bf83baf9cf0cd1a943df791d3f891afb5e4321
3
+ size 739770
cmr-surgical-60hz-fixed/prostatectomy/data/chunk-001/episode_001969.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:577b611f2f1b1a4bb9830404e58db2bdc1bc130b0e9a54de5677df719d6ddd9a
3
+ size 725281
cmr-surgical-60hz-fixed/prostatectomy/meta/episodes.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
cmr-surgical-60hz-fixed/prostatectomy/meta/info.json ADDED
@@ -0,0 +1,142 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "versius",
4
+ "total_episodes": 10329,
5
+ "total_frames": 36516224,
6
+ "total_tasks": 10244,
7
+ "total_videos": 10329,
8
+ "total_chunks": 11,
9
+ "chunks_size": 1000,
10
+ "fps": 60,
11
+ "splits": {
12
+ "train": "0:10329"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.images.endoscope": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 1080,
21
+ 1920,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ],
29
+ "info": {
30
+ "video.height": 1080,
31
+ "video.width": 1920,
32
+ "video.codec": "h264",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 60,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.state": {
41
+ "dtype": "float64",
42
+ "shape": [
43
+ 100
44
+ ],
45
+ "names": [
46
+ "haptic_left_armengageable",
47
+ "haptic_right_armengageable",
48
+ "arm_0_color",
49
+ "arm_1_color",
50
+ "arm_2_color",
51
+ "arm_3_color",
52
+ "arm_4_color",
53
+ "arm_0_instrtype",
54
+ "arm_1_instrtype",
55
+ "arm_2_instrtype",
56
+ "arm_3_instrtype",
57
+ "arm_4_instrtype",
58
+ "translationscaling",
59
+ "rotationscaling",
60
+ "electroSurgeryMode_left",
61
+ "electroSurgeryMode_right",
62
+ "hapticengaged_left",
63
+ "hapticengaged_right",
64
+ "icgmode",
65
+ "icgenabled",
66
+ "armlinkedtohaptic_left",
67
+ "armlinkedtohaptic_right",
68
+ "instrtype_left",
69
+ "instrtype_right"
70
+ ]
71
+ },
72
+ "action": {
73
+ "dtype": "float64",
74
+ "shape": [
75
+ 100
76
+ ],
77
+ "names": [
78
+ "x_left",
79
+ "y_left",
80
+ "z_left",
81
+ "quat_x_left",
82
+ "quat_y_left",
83
+ "quat_z_left",
84
+ "quat_w_left",
85
+ "clutchBtn_left",
86
+ "energyBtn_left",
87
+ "thumbstickBtn_left",
88
+ "pince_left",
89
+ "thumbstick_x_left",
90
+ "thumbstick_y_left",
91
+ "x_right",
92
+ "y_right",
93
+ "z_right",
94
+ "quat_x_right",
95
+ "quat_y_right",
96
+ "quat_z_right",
97
+ "quat_w_right",
98
+ "clutchBtn_right",
99
+ "energyBtn_right",
100
+ "thumbstickBtn_right",
101
+ "pince_right",
102
+ "thumbstick_x_right",
103
+ "thumbstick_y_right"
104
+ ]
105
+ },
106
+ "timestamp": {
107
+ "dtype": "float32",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null
112
+ },
113
+ "frame_index": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ],
118
+ "names": null
119
+ },
120
+ "episode_index": {
121
+ "dtype": "int64",
122
+ "shape": [
123
+ 1
124
+ ],
125
+ "names": null
126
+ },
127
+ "index": {
128
+ "dtype": "int64",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ },
134
+ "task_index": {
135
+ "dtype": "int64",
136
+ "shape": [
137
+ 1
138
+ ],
139
+ "names": null
140
+ }
141
+ }
142
+ }
cmr-surgical-60hz-fixed/prostatectomy/meta/modality-28D.json ADDED
@@ -0,0 +1,164 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "left_pose": {
4
+ "start": 0,
5
+ "end": 7,
6
+ "original_key": "action"
7
+ },
8
+ "left_gripper": {
9
+ "start": 10,
10
+ "end": 11,
11
+ "original_key": "action"
12
+ },
13
+ "right_pose": {
14
+ "start": 13,
15
+ "end": 20,
16
+ "original_key": "action"
17
+ },
18
+ "right_gripper": {
19
+ "start": 23,
20
+ "end": 24,
21
+ "original_key": "action"
22
+ },
23
+ "electroSurgeryMode_left": {
24
+ "start": 14,
25
+ "end": 15,
26
+ "original_key": "observation.state"
27
+ },
28
+ "armlinkedtohaptic_left": {
29
+ "start": 20,
30
+ "end": 21,
31
+ "original_key": "observation.state"
32
+ },
33
+ "instrtype_left": {
34
+ "start": 22,
35
+ "end": 23,
36
+ "original_key": "observation.state"
37
+ },
38
+ "electroSurgeryMode_right": {
39
+ "start": 15,
40
+ "end": 16,
41
+ "original_key": "observation.state"
42
+ },
43
+ "armlinkedtohaptic_right": {
44
+ "start": 21,
45
+ "end": 22,
46
+ "original_key": "observation.state"
47
+ },
48
+ "instrtype_right": {
49
+ "start": 23,
50
+ "end": 24,
51
+ "original_key": "observation.state"
52
+ },
53
+ "translation_scaling": {
54
+ "start": 12,
55
+ "end": 13,
56
+ "original_key": "observation.state"
57
+ },
58
+ "rotation_scaling": {
59
+ "start": 13,
60
+ "end": 14,
61
+ "original_key": "observation.state"
62
+ },
63
+ "hapticengaged_left": {
64
+ "start": 16,
65
+ "end": 17,
66
+ "original_key": "observation.state"
67
+ },
68
+ "hapticengaged_right": {
69
+ "start": 17,
70
+ "end": 18,
71
+ "original_key": "observation.state"
72
+ },
73
+ "arm_0_color": {
74
+ "start": 2,
75
+ "end": 3,
76
+ "original_key": "observation.state"
77
+ },
78
+ "arm_1_color": {
79
+ "start": 3,
80
+ "end": 4,
81
+ "original_key": "observation.state"
82
+ },
83
+ "arm_2_color": {
84
+ "start": 4,
85
+ "end": 5,
86
+ "original_key": "observation.state"
87
+ },
88
+ "arm_3_color": {
89
+ "start": 5,
90
+ "end": 6,
91
+ "original_key": "observation.state"
92
+ }
93
+ },
94
+ "action": {
95
+ "left_pose": {
96
+ "start": 0,
97
+ "end": 7
98
+ },
99
+ "left_gripper": {
100
+ "start": 10,
101
+ "end": 11
102
+ },
103
+ "right_pose": {
104
+ "start": 13,
105
+ "end": 20
106
+ },
107
+ "right_gripper": {
108
+ "start": 23,
109
+ "end": 24
110
+ },
111
+ "left_energy": {
112
+ "start": 8,
113
+ "end": 9
114
+ },
115
+ "right_energy": {
116
+ "start": 21,
117
+ "end": 22
118
+ },
119
+ "thumbstick_x_left": {
120
+ "start": 11,
121
+ "end": 12
122
+ },
123
+ "thumbstick_y_left": {
124
+ "start": 12,
125
+ "end": 13
126
+ },
127
+ "thumbstickBtn_left": {
128
+ "start": 9,
129
+ "end": 10
130
+ },
131
+ "thumbstick_x_right": {
132
+ "start": 24,
133
+ "end": 25
134
+ },
135
+ "thumbstick_y_right": {
136
+ "start": 25,
137
+ "end": 26
138
+ },
139
+ "thumbstickBtn_right": {
140
+ "start": 22,
141
+ "end": 23
142
+ },
143
+ "hapticengaged_left": {
144
+ "start": 16,
145
+ "end": 17,
146
+ "original_key": "observation.state"
147
+ },
148
+ "hapticengaged_right": {
149
+ "start": 17,
150
+ "end": 18,
151
+ "original_key": "observation.state"
152
+ }
153
+ },
154
+ "video": {
155
+ "endoscope": {
156
+ "original_key": "observation.images.endoscope"
157
+ }
158
+ },
159
+ "annotation": {
160
+ "human.task_description": {
161
+ "original_key": "task_index"
162
+ }
163
+ }
164
+ }
cmr-surgical-60hz-fixed/prostatectomy/meta/modality.json ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "left_pose": {
4
+ "start": 0,
5
+ "end": 7,
6
+ "original_key": "action"
7
+ },
8
+ "left_gripper": {
9
+ "start": 10,
10
+ "end": 11,
11
+ "original_key": "action"
12
+ },
13
+ "right_pose": {
14
+ "start": 13,
15
+ "end": 20,
16
+ "original_key": "action"
17
+ },
18
+ "right_gripper": {
19
+ "start": 23,
20
+ "end": 24,
21
+ "original_key": "action"
22
+ },
23
+ "electroSurgeryMode_left": {
24
+ "start": 14,
25
+ "end": 15,
26
+ "original_key": "observation.state"
27
+ },
28
+ "armlinkedtohaptic_left": {
29
+ "start": 20,
30
+ "end": 21,
31
+ "original_key": "observation.state"
32
+ },
33
+ "instrtype_left": {
34
+ "start": 22,
35
+ "end": 23,
36
+ "original_key": "observation.state"
37
+ },
38
+ "electroSurgeryMode_right": {
39
+ "start": 15,
40
+ "end": 16,
41
+ "original_key": "observation.state"
42
+ },
43
+ "armlinkedtohaptic_right": {
44
+ "start": 21,
45
+ "end": 22,
46
+ "original_key": "observation.state"
47
+ },
48
+ "instrtype_right": {
49
+ "start": 23,
50
+ "end": 24,
51
+ "original_key": "observation.state"
52
+ },
53
+ "translation_scaling": {
54
+ "start": 12,
55
+ "end": 13,
56
+ "original_key": "observation.state"
57
+ },
58
+ "rotation_scaling": {
59
+ "start": 13,
60
+ "end": 14,
61
+ "original_key": "observation.state"
62
+ },
63
+ "hapticengaged_left": {
64
+ "start": 16,
65
+ "end": 17,
66
+ "original_key": "observation.state"
67
+ },
68
+ "hapticengaged_right": {
69
+ "start": 17,
70
+ "end": 18,
71
+ "original_key": "observation.state"
72
+ },
73
+ "arm_0_color": {
74
+ "start": 2,
75
+ "end": 3,
76
+ "original_key": "observation.state"
77
+ },
78
+ "arm_1_color": {
79
+ "start": 3,
80
+ "end": 4,
81
+ "original_key": "observation.state"
82
+ },
83
+ "arm_2_color": {
84
+ "start": 4,
85
+ "end": 5,
86
+ "original_key": "observation.state"
87
+ },
88
+ "arm_3_color": {
89
+ "start": 5,
90
+ "end": 6,
91
+ "original_key": "observation.state"
92
+ }
93
+ },
94
+ "action": {
95
+ "left_pose": {
96
+ "start": 0,
97
+ "end": 7
98
+ },
99
+ "left_gripper": {
100
+ "start": 10,
101
+ "end": 11
102
+ },
103
+ "right_pose": {
104
+ "start": 13,
105
+ "end": 20
106
+ },
107
+ "right_gripper": {
108
+ "start": 23,
109
+ "end": 24
110
+ },
111
+ "left_energy": {
112
+ "start": 8,
113
+ "end": 9
114
+ },
115
+ "right_energy": {
116
+ "start": 21,
117
+ "end": 22
118
+ },
119
+ "hapticengaged_left": {
120
+ "start": 16,
121
+ "end": 17,
122
+ "original_key": "observation.state"
123
+ },
124
+ "hapticengaged_right": {
125
+ "start": 17,
126
+ "end": 18,
127
+ "original_key": "observation.state"
128
+ }
129
+ },
130
+ "video": {
131
+ "endoscope": {
132
+ "original_key": "observation.images.endoscope"
133
+ }
134
+ },
135
+ "annotation": {
136
+ "human.task_description": {
137
+ "original_key": "task_index"
138
+ }
139
+ }
140
+ }
cmr-surgical-60hz-fixed/prostatectomy/meta/stats_cosmos-28D.json ADDED
@@ -0,0 +1,782 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 9.125997169973709e-06,
5
+ 7.004107068961614e-06,
6
+ 9.95526127560139e-06,
7
+ 0.9885284904314943,
8
+ -0.0012613196532531225,
9
+ 0.001592148857564122,
10
+ -0.0011018274831135683,
11
+ 0.9926466701237912,
12
+ -0.003115914352785526,
13
+ 0.2741009294203063,
14
+ -6.02912301655975e-06,
15
+ -1.1847101910039054e-05,
16
+ 5.885962272927648e-06,
17
+ 0.9847333403707682,
18
+ 0.0005639534053037232,
19
+ -0.002396498210051801,
20
+ 0.0018962629139990595,
21
+ 0.9898970072571288,
22
+ -0.00308185772996818,
23
+ 0.42220015022398955,
24
+ 0.03212680880056444,
25
+ 0.11891085723446547,
26
+ 309.28041234118905,
27
+ 909.3810952245883,
28
+ -1780.5702881990296,
29
+ -1334.6762506196485,
30
+ 0.0019575299288603957,
31
+ 0.0016145983475953992
32
+ ],
33
+ "std": [
34
+ 0.004671090708271216,
35
+ 0.005437821735266658,
36
+ 0.005206192017768037,
37
+ 0.050127385112487446,
38
+ 0.10408466716149062,
39
+ 0.0972672878285059,
40
+ 0.10399347753317575,
41
+ 0.03743622230526878,
42
+ 0.049249890724419626,
43
+ 0.3793757431989312,
44
+ 0.004996869875139038,
45
+ 0.005826077774479332,
46
+ 0.005523718463834314,
47
+ 0.05960430020196021,
48
+ 0.12431198983165832,
49
+ 0.10624520648068926,
50
+ 0.12451476355793523,
51
+ 0.04495350903676855,
52
+ 0.05065646454512432,
53
+ 0.403783567398496,
54
+ 0.17633682813540622,
55
+ 0.32368358819413423,
56
+ 2286.115982296391,
57
+ 1738.7495759398928,
58
+ 2688.7706217085793,
59
+ 3523.1419817158085,
60
+ 0.044200656165242616,
61
+ 0.04014961294671804
62
+ ],
63
+ "min": [
64
+ -0.11710213124752045,
65
+ -0.10837160795927048,
66
+ -0.12359952926635742,
67
+ -0.9983523488044739,
68
+ -0.9999969005584717,
69
+ -0.9996929168701172,
70
+ -0.9999999403953552,
71
+ -0.9882298111915588,
72
+ -0.9999707937240601,
73
+ 0.0,
74
+ -0.10497976094484329,
75
+ -0.12431329488754272,
76
+ -0.13881182670593262,
77
+ -0.9992079734802246,
78
+ -0.9999989867210388,
79
+ -0.999967634677887,
80
+ -0.999998927116394,
81
+ -0.9860256314277649,
82
+ -0.9994027614593506,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ -22637.0,
87
+ -21933.0,
88
+ -23645.0,
89
+ -23661.0,
90
+ 0.0,
91
+ 0.0
92
+ ],
93
+ "max": [
94
+ 0.1266135722398758,
95
+ 0.11029286682605743,
96
+ 0.1581210345029831,
97
+ 1.0,
98
+ 0.9999995827674866,
99
+ 0.9999927282333374,
100
+ 0.9999939799308777,
101
+ 1.0,
102
+ 0.9240257740020752,
103
+ 1.0,
104
+ 0.11213415116071701,
105
+ 0.12403572350740433,
106
+ 0.15115219354629517,
107
+ 1.0,
108
+ 0.999999463558197,
109
+ 0.9998862743377686,
110
+ 0.9999973177909851,
111
+ 1.0,
112
+ 0.9385237097740173,
113
+ 1.0,
114
+ 1.0,
115
+ 1.0,
116
+ 21948.0,
117
+ 23404.0,
118
+ 20092.0,
119
+ 21980.0,
120
+ 1.0,
121
+ 1.0
122
+ ],
123
+ "q01": [
124
+ -0.015369021128863097,
125
+ -0.018207028843462467,
126
+ -0.01683858912438154,
127
+ 0.7910921150445938,
128
+ -0.35490713000297547,
129
+ -0.32537721753120424,
130
+ -0.3914274552464485,
131
+ 0.8565362471342087,
132
+ -0.191322610527277,
133
+ 0.0,
134
+ -0.015124304154887795,
135
+ -0.019605403393507005,
136
+ -0.01790338758379221,
137
+ 0.743478097319603,
138
+ -0.4282373055815697,
139
+ -0.37724189311265943,
140
+ -0.401553610265255,
141
+ 0.817595739364624,
142
+ -0.19063738346099854,
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ -6586.0,
147
+ -1736.0,
148
+ -8874.0,
149
+ -19805.0,
150
+ 0.0,
151
+ 0.0
152
+ ],
153
+ "q99": [
154
+ 0.015484266923740506,
155
+ 0.018183651696890565,
156
+ 0.017408592104911774,
157
+ 1.0,
158
+ 0.36774317353963765,
159
+ 0.3450143647193902,
160
+ 0.3316923916339869,
161
+ 1.0,
162
+ 0.12805117025971394,
163
+ 1.0,
164
+ 0.01645859964191912,
165
+ 0.01768337059766053,
166
+ 0.018197146914899313,
167
+ 1.0,
168
+ 0.42129087597131726,
169
+ 0.33556847274303403,
170
+ 0.45144982635974784,
171
+ 1.0,
172
+ 0.12921446979045859,
173
+ 1.0,
174
+ 1.0,
175
+ 1.0,
176
+ 5608.0,
177
+ 5336.0,
178
+ 10713.0,
179
+ 18571.0,
180
+ 0.0,
181
+ 0.0
182
+ ]
183
+ },
184
+ "state": {
185
+ "mean": [
186
+ 0.055698401399467086,
187
+ -0.5204217688356697,
188
+ -0.07525399280509741,
189
+ 0.34254049748157495,
190
+ -0.013815644021740705,
191
+ -0.1898095187950558,
192
+ 0.905420269778611,
193
+ 0.27422407927784853,
194
+ -0.04995405752168021,
195
+ -0.5198842911262096,
196
+ -0.08052058868770913,
197
+ 0.3490813811127204,
198
+ -0.00809793224393122,
199
+ 0.1732091328496514,
200
+ 0.9054911605609086,
201
+ 0.4220018103615545
202
+ ],
203
+ "std": [
204
+ 0.05576638229420178,
205
+ 0.04979813189690185,
206
+ 0.055610230887629855,
207
+ 0.03138426933212591,
208
+ 0.12403599231827467,
209
+ 0.1002468273107064,
210
+ 0.015565701924677848,
211
+ 0.3794572833914232,
212
+ 0.049488780882808454,
213
+ 0.05090312617258938,
214
+ 0.05384093063128954,
215
+ 0.02606008923425408,
216
+ 0.12943301301188764,
217
+ 0.10259020924000177,
218
+ 0.014289267203053737,
219
+ 0.40373819722813314
220
+ ],
221
+ "min": [
222
+ -0.19312143,
223
+ -0.7213115,
224
+ -0.30850315,
225
+ -0.002438717972881569,
226
+ -0.3785247146338994,
227
+ -0.38168779510199613,
228
+ 0.8660459964411489,
229
+ 0.0,
230
+ -0.35623565,
231
+ -0.7210254,
232
+ -0.30694115,
233
+ 0.0009219637867301552,
234
+ -0.3449654279638146,
235
+ -0.35948788177409857,
236
+ 0.8660293369759152,
237
+ 0.0
238
+ ],
239
+ "max": [
240
+ 0.4313178,
241
+ -0.32756642,
242
+ 0.26491505,
243
+ 0.382682724284466,
244
+ 0.36013379895171643,
245
+ 0.33716874446342615,
246
+ 0.9999999978907403,
247
+ 1.0,
248
+ 0.20329547,
249
+ -0.2940443,
250
+ 0.25433782,
251
+ 0.38268308242893656,
252
+ 0.3749265770265154,
253
+ 0.3816392146525004,
254
+ 0.9977112466872395,
255
+ 1.0
256
+ ],
257
+ "q01": [
258
+ -0.0782440488,
259
+ -0.648029607,
260
+ -0.2101689309,
261
+ 0.22826012691574574,
262
+ -0.3074341534989049,
263
+ -0.3454210681834726,
264
+ 0.8754393168036012,
265
+ 0.0,
266
+ -0.1779005524,
267
+ -0.6501971545,
268
+ -0.2057672743,
269
+ 0.2558648823694702,
270
+ -0.2451008375443544,
271
+ -0.1420283992041988,
272
+ 0.8757254754676972,
273
+ 0.0
274
+ ],
275
+ "q99": [
276
+ 0.18292162010000002,
277
+ -0.4118757183,
278
+ 0.08248263119999975,
279
+ 0.3798096302042135,
280
+ 0.23622009405590694,
281
+ 0.11686503698559414,
282
+ 0.9507005118149254,
283
+ 1.0,
284
+ 0.06596694143999973,
285
+ -0.4102343285,
286
+ 0.05688006317999986,
287
+ 0.38056204044512953,
288
+ 0.3061364267829734,
289
+ 0.3348457727573432,
290
+ 0.9407247537551073,
291
+ 1.0
292
+ ]
293
+ },
294
+ "action.left_pose": {
295
+ "mean": [
296
+ 9.125997169973709e-06,
297
+ 7.004107068961614e-06,
298
+ 9.95526127560139e-06,
299
+ 0.9885284904314943,
300
+ -0.0012613196532531225,
301
+ 0.001592148857564122,
302
+ -0.0011018274831135683,
303
+ 0.9926466701237912,
304
+ -0.003115914352785526
305
+ ],
306
+ "std": [
307
+ 0.004671090708271216,
308
+ 0.005437821735266658,
309
+ 0.005206192017768037,
310
+ 0.050127385112487446,
311
+ 0.10408466716149062,
312
+ 0.0972672878285059,
313
+ 0.10399347753317575,
314
+ 0.03743622230526878,
315
+ 0.049249890724419626
316
+ ],
317
+ "min": [
318
+ -0.11710213124752045,
319
+ -0.10837160795927048,
320
+ -0.12359952926635742,
321
+ -0.9983523488044739,
322
+ -0.9999969005584717,
323
+ -0.9996929168701172,
324
+ -0.9999999403953552,
325
+ -0.9882298111915588,
326
+ -0.9999707937240601
327
+ ],
328
+ "max": [
329
+ 0.1266135722398758,
330
+ 0.11029286682605743,
331
+ 0.1581210345029831,
332
+ 1.0,
333
+ 0.9999995827674866,
334
+ 0.9999927282333374,
335
+ 0.9999939799308777,
336
+ 1.0,
337
+ 0.9240257740020752
338
+ ],
339
+ "q01": [
340
+ -0.015369021128863097,
341
+ -0.018207028843462467,
342
+ -0.01683858912438154,
343
+ 0.7910921150445938,
344
+ -0.35490713000297547,
345
+ -0.32537721753120424,
346
+ -0.3914274552464485,
347
+ 0.8565362471342087,
348
+ -0.191322610527277
349
+ ],
350
+ "q99": [
351
+ 0.015484266923740506,
352
+ 0.018183651696890565,
353
+ 0.017408592104911774,
354
+ 1.0,
355
+ 0.36774317353963765,
356
+ 0.3450143647193902,
357
+ 0.3316923916339869,
358
+ 1.0,
359
+ 0.12805117025971394
360
+ ]
361
+ },
362
+ "action.left_gripper": {
363
+ "mean": [
364
+ 0.2741009294203063
365
+ ],
366
+ "std": [
367
+ 0.3793757431989312
368
+ ],
369
+ "min": [
370
+ 0.0
371
+ ],
372
+ "max": [
373
+ 1.0
374
+ ],
375
+ "q01": [
376
+ 0.0
377
+ ],
378
+ "q99": [
379
+ 1.0
380
+ ]
381
+ },
382
+ "action.right_pose": {
383
+ "mean": [
384
+ -6.02912301655975e-06,
385
+ -1.1847101910039054e-05,
386
+ 5.885962272927648e-06,
387
+ 0.9847333403707682,
388
+ 0.0005639534053037232,
389
+ -0.002396498210051801,
390
+ 0.0018962629139990595,
391
+ 0.9898970072571288,
392
+ -0.00308185772996818
393
+ ],
394
+ "std": [
395
+ 0.004996869875139038,
396
+ 0.005826077774479332,
397
+ 0.005523718463834314,
398
+ 0.05960430020196021,
399
+ 0.12431198983165832,
400
+ 0.10624520648068926,
401
+ 0.12451476355793523,
402
+ 0.04495350903676855,
403
+ 0.05065646454512432
404
+ ],
405
+ "min": [
406
+ -0.10497976094484329,
407
+ -0.12431329488754272,
408
+ -0.13881182670593262,
409
+ -0.9992079734802246,
410
+ -0.9999989867210388,
411
+ -0.999967634677887,
412
+ -0.999998927116394,
413
+ -0.9860256314277649,
414
+ -0.9994027614593506
415
+ ],
416
+ "max": [
417
+ 0.11213415116071701,
418
+ 0.12403572350740433,
419
+ 0.15115219354629517,
420
+ 1.0,
421
+ 0.999999463558197,
422
+ 0.9998862743377686,
423
+ 0.9999973177909851,
424
+ 1.0,
425
+ 0.9385237097740173
426
+ ],
427
+ "q01": [
428
+ -0.015124304154887795,
429
+ -0.019605403393507005,
430
+ -0.01790338758379221,
431
+ 0.743478097319603,
432
+ -0.4282373055815697,
433
+ -0.37724189311265943,
434
+ -0.401553610265255,
435
+ 0.817595739364624,
436
+ -0.19063738346099854
437
+ ],
438
+ "q99": [
439
+ 0.01645859964191912,
440
+ 0.01768337059766053,
441
+ 0.018197146914899313,
442
+ 1.0,
443
+ 0.42129087597131726,
444
+ 0.33556847274303403,
445
+ 0.45144982635974784,
446
+ 1.0,
447
+ 0.12921446979045859
448
+ ]
449
+ },
450
+ "action.right_gripper": {
451
+ "mean": [
452
+ 0.42220015022398955
453
+ ],
454
+ "std": [
455
+ 0.403783567398496
456
+ ],
457
+ "min": [
458
+ 0.0
459
+ ],
460
+ "max": [
461
+ 1.0
462
+ ],
463
+ "q01": [
464
+ 0.0
465
+ ],
466
+ "q99": [
467
+ 1.0
468
+ ]
469
+ },
470
+ "action.left_energy": {
471
+ "mean": [
472
+ 0.03212680880056444
473
+ ],
474
+ "std": [
475
+ 0.17633682813540622
476
+ ],
477
+ "min": [
478
+ 0.0
479
+ ],
480
+ "max": [
481
+ 1.0
482
+ ],
483
+ "q01": [
484
+ 0.0
485
+ ],
486
+ "q99": [
487
+ 1.0
488
+ ]
489
+ },
490
+ "action.right_energy": {
491
+ "mean": [
492
+ 0.11891085723446547
493
+ ],
494
+ "std": [
495
+ 0.32368358819413423
496
+ ],
497
+ "min": [
498
+ 0.0
499
+ ],
500
+ "max": [
501
+ 1.0
502
+ ],
503
+ "q01": [
504
+ 0.0
505
+ ],
506
+ "q99": [
507
+ 1.0
508
+ ]
509
+ },
510
+ "action.thumbstick_x_left": {
511
+ "mean": [
512
+ 309.28041234118905
513
+ ],
514
+ "std": [
515
+ 2286.115982296391
516
+ ],
517
+ "min": [
518
+ -22637.0
519
+ ],
520
+ "max": [
521
+ 21948.0
522
+ ],
523
+ "q01": [
524
+ -6586.0
525
+ ],
526
+ "q99": [
527
+ 5608.0
528
+ ]
529
+ },
530
+ "action.thumbstick_x_right": {
531
+ "mean": [
532
+ 909.3810952245883
533
+ ],
534
+ "std": [
535
+ 1738.7495759398928
536
+ ],
537
+ "min": [
538
+ -21933.0
539
+ ],
540
+ "max": [
541
+ 23404.0
542
+ ],
543
+ "q01": [
544
+ -1736.0
545
+ ],
546
+ "q99": [
547
+ 5336.0
548
+ ]
549
+ },
550
+ "action.thumbstick_y_left": {
551
+ "mean": [
552
+ -1780.5702881990296
553
+ ],
554
+ "std": [
555
+ 2688.7706217085793
556
+ ],
557
+ "min": [
558
+ -23645.0
559
+ ],
560
+ "max": [
561
+ 20092.0
562
+ ],
563
+ "q01": [
564
+ -8874.0
565
+ ],
566
+ "q99": [
567
+ 10713.0
568
+ ]
569
+ },
570
+ "action.thumbstick_y_right": {
571
+ "mean": [
572
+ -1334.6762506196485
573
+ ],
574
+ "std": [
575
+ 3523.1419817158085
576
+ ],
577
+ "min": [
578
+ -23661.0
579
+ ],
580
+ "max": [
581
+ 21980.0
582
+ ],
583
+ "q01": [
584
+ -19805.0
585
+ ],
586
+ "q99": [
587
+ 18571.0
588
+ ]
589
+ },
590
+ "action.thumbstickBtn_left": {
591
+ "mean": [
592
+ 0.0019575299288603957
593
+ ],
594
+ "std": [
595
+ 0.044200656165242616
596
+ ],
597
+ "min": [
598
+ 0.0
599
+ ],
600
+ "max": [
601
+ 1.0
602
+ ],
603
+ "q01": [
604
+ 0.0
605
+ ],
606
+ "q99": [
607
+ 0.0
608
+ ]
609
+ },
610
+ "action.thumbstickBtn_right": {
611
+ "mean": [
612
+ 0.0016145983475953992
613
+ ],
614
+ "std": [
615
+ 0.04014961294671804
616
+ ],
617
+ "min": [
618
+ 0.0
619
+ ],
620
+ "max": [
621
+ 1.0
622
+ ],
623
+ "q01": [
624
+ 0.0
625
+ ],
626
+ "q99": [
627
+ 0.0
628
+ ]
629
+ },
630
+ "state.left_pose": {
631
+ "mean": [
632
+ 0.055698401399467086,
633
+ -0.5204217688356697,
634
+ -0.07525399280509741,
635
+ 0.34254049748157495,
636
+ -0.013815644021740705,
637
+ -0.1898095187950558,
638
+ 0.905420269778611
639
+ ],
640
+ "std": [
641
+ 0.05576638229420178,
642
+ 0.04979813189690185,
643
+ 0.055610230887629855,
644
+ 0.03138426933212591,
645
+ 0.12403599231827467,
646
+ 0.1002468273107064,
647
+ 0.015565701924677848
648
+ ],
649
+ "min": [
650
+ -0.19312143,
651
+ -0.7213115,
652
+ -0.30850315,
653
+ -0.002438717972881569,
654
+ -0.3785247146338994,
655
+ -0.38168779510199613,
656
+ 0.8660459964411489
657
+ ],
658
+ "max": [
659
+ 0.4313178,
660
+ -0.32756642,
661
+ 0.26491505,
662
+ 0.382682724284466,
663
+ 0.36013379895171643,
664
+ 0.33716874446342615,
665
+ 0.9999999978907403
666
+ ],
667
+ "q01": [
668
+ -0.0782440488,
669
+ -0.648029607,
670
+ -0.2101689309,
671
+ 0.22826012691574574,
672
+ -0.3074341534989049,
673
+ -0.3454210681834726,
674
+ 0.8754393168036012
675
+ ],
676
+ "q99": [
677
+ 0.18292162010000002,
678
+ -0.4118757183,
679
+ 0.08248263119999975,
680
+ 0.3798096302042135,
681
+ 0.23622009405590694,
682
+ 0.11686503698559414,
683
+ 0.9507005118149254
684
+ ]
685
+ },
686
+ "state.left_gripper": {
687
+ "mean": [
688
+ 0.27422407927784853
689
+ ],
690
+ "std": [
691
+ 0.3794572833914232
692
+ ],
693
+ "min": [
694
+ 0.0
695
+ ],
696
+ "max": [
697
+ 1.0
698
+ ],
699
+ "q01": [
700
+ 0.0
701
+ ],
702
+ "q99": [
703
+ 1.0
704
+ ]
705
+ },
706
+ "state.right_pose": {
707
+ "mean": [
708
+ -0.04995405752168021,
709
+ -0.5198842911262096,
710
+ -0.08052058868770913,
711
+ 0.3490813811127204,
712
+ -0.00809793224393122,
713
+ 0.1732091328496514,
714
+ 0.9054911605609086
715
+ ],
716
+ "std": [
717
+ 0.049488780882808454,
718
+ 0.05090312617258938,
719
+ 0.05384093063128954,
720
+ 0.02606008923425408,
721
+ 0.12943301301188764,
722
+ 0.10259020924000177,
723
+ 0.014289267203053737
724
+ ],
725
+ "min": [
726
+ -0.35623565,
727
+ -0.7210254,
728
+ -0.30694115,
729
+ 0.0009219637867301552,
730
+ -0.3449654279638146,
731
+ -0.35948788177409857,
732
+ 0.8660293369759152
733
+ ],
734
+ "max": [
735
+ 0.20329547,
736
+ -0.2940443,
737
+ 0.25433782,
738
+ 0.38268308242893656,
739
+ 0.3749265770265154,
740
+ 0.3816392146525004,
741
+ 0.9977112466872395
742
+ ],
743
+ "q01": [
744
+ -0.1779005524,
745
+ -0.6501971545,
746
+ -0.2057672743,
747
+ 0.2558648823694702,
748
+ -0.2451008375443544,
749
+ -0.1420283992041988,
750
+ 0.8757254754676972
751
+ ],
752
+ "q99": [
753
+ 0.06596694143999973,
754
+ -0.4102343285,
755
+ 0.05688006317999986,
756
+ 0.38056204044512953,
757
+ 0.3061364267829734,
758
+ 0.3348457727573432,
759
+ 0.9407247537551073
760
+ ]
761
+ },
762
+ "state.right_gripper": {
763
+ "mean": [
764
+ 0.4220018103615545
765
+ ],
766
+ "std": [
767
+ 0.40373819722813314
768
+ ],
769
+ "min": [
770
+ 0.0
771
+ ],
772
+ "max": [
773
+ 1.0
774
+ ],
775
+ "q01": [
776
+ 0.0
777
+ ],
778
+ "q99": [
779
+ 1.0
780
+ ]
781
+ }
782
+ }
cmr-surgical-60hz-fixed/prostatectomy/meta/stats_cosmos.json ADDED
@@ -0,0 +1,626 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 9.12599716997233e-06,
5
+ 7.004107068961771e-06,
6
+ 9.955261275601608e-06,
7
+ 0.9885284904314815,
8
+ -0.0012613196532533964,
9
+ 0.0015921488575638529,
10
+ -0.0011018274831134504,
11
+ 0.9926466701237755,
12
+ -0.0031159143527860924,
13
+ 0.27410092941854397,
14
+ -6.0291230165602785e-06,
15
+ -1.1847101910036486e-05,
16
+ 5.8859622729287475e-06,
17
+ 0.9847333403707548,
18
+ 0.0005639534053037314,
19
+ -0.002396498210051854,
20
+ 0.001896262913999231,
21
+ 0.9898970072571956,
22
+ -0.003081857729969542,
23
+ 0.4222001502254904,
24
+ 0.03212680880056448,
25
+ 0.11891085723446544
26
+ ],
27
+ "std": [
28
+ 0.004671090710355876,
29
+ 0.005437821735712215,
30
+ 0.005206192015836689,
31
+ 0.050127385114685036,
32
+ 0.1040846671058994,
33
+ 0.09726728784423108,
34
+ 0.10399347751888975,
35
+ 0.037436222315456694,
36
+ 0.04924989072357998,
37
+ 0.3793757431423611,
38
+ 0.004996869875385924,
39
+ 0.005826077772930137,
40
+ 0.005523718463103569,
41
+ 0.059604300221640934,
42
+ 0.1243119897717802,
43
+ 0.10624520644723154,
44
+ 0.12451476356647183,
45
+ 0.04495350905672102,
46
+ 0.050656464556220644,
47
+ 0.40378356667291965,
48
+ 0.17633682870340095,
49
+ 0.32368358974677724
50
+ ],
51
+ "min": [
52
+ -0.11710213124752045,
53
+ -0.10837160795927048,
54
+ -0.12359952926635742,
55
+ -0.9983523488044739,
56
+ -0.9999969005584717,
57
+ -0.9996929168701172,
58
+ -0.9999999403953552,
59
+ -0.9882298111915588,
60
+ -0.9999707937240601,
61
+ 0.0,
62
+ -0.10497976094484329,
63
+ -0.12431329488754272,
64
+ -0.13881182670593262,
65
+ -0.9992079734802246,
66
+ -0.9999989867210388,
67
+ -0.999967634677887,
68
+ -0.999998927116394,
69
+ -0.9860256314277649,
70
+ -0.9994027614593506,
71
+ 0.0,
72
+ 0.0,
73
+ 0.0
74
+ ],
75
+ "max": [
76
+ 0.1266135722398758,
77
+ 0.11029286682605743,
78
+ 0.1581210345029831,
79
+ 1.0,
80
+ 0.9999995827674866,
81
+ 0.9999927282333374,
82
+ 0.9999939799308777,
83
+ 1.0,
84
+ 0.9240257740020752,
85
+ 1.0,
86
+ 0.11213415116071701,
87
+ 0.12403572350740433,
88
+ 0.15115219354629517,
89
+ 1.0,
90
+ 0.999999463558197,
91
+ 0.9998862743377686,
92
+ 0.9999973177909851,
93
+ 1.0,
94
+ 0.9385237097740173,
95
+ 1.0,
96
+ 1.0,
97
+ 1.0
98
+ ],
99
+ "q01": [
100
+ -0.015349762961268425,
101
+ -0.01818230003118515,
102
+ -0.016857770029455425,
103
+ 0.7910478490591049,
104
+ -0.3547121694684029,
105
+ -0.32547953724861145,
106
+ -0.39166600942611696,
107
+ 0.8564396500587463,
108
+ -0.19182129204273224,
109
+ 0.0,
110
+ -0.015114002861082554,
111
+ -0.019625000655651093,
112
+ -0.017964518386870625,
113
+ 0.7434160488843917,
114
+ -0.4282102805376053,
115
+ -0.3776134252548218,
116
+ -0.4022988975048065,
117
+ 0.8169229030609131,
118
+ -0.1913222074508667,
119
+ 0.0,
120
+ 0.0,
121
+ 0.0
122
+ ],
123
+ "q99": [
124
+ 0.015488565657287845,
125
+ 0.01819376874715095,
126
+ 0.01743551343679428,
127
+ 1.0,
128
+ 0.3680253326892853,
129
+ 0.34563232570886626,
130
+ 0.33110038548707976,
131
+ 1.0,
132
+ 0.12816283270716688,
133
+ 1.0,
134
+ 0.016465195212513217,
135
+ 0.017687439918518066,
136
+ 0.01816247237846258,
137
+ 1.0,
138
+ 0.42191325843334226,
139
+ 0.3353780761361129,
140
+ 0.4516828656196594,
141
+ 1.0,
142
+ 0.12933801665902145,
143
+ 1.0,
144
+ 1.0,
145
+ 1.0
146
+ ]
147
+ },
148
+ "action.left_pose": {
149
+ "mean": [
150
+ 9.12599716997233e-06,
151
+ 7.004107068961771e-06,
152
+ 9.955261275601608e-06,
153
+ 0.9885284904314815,
154
+ -0.0012613196532533964,
155
+ 0.0015921488575638529,
156
+ -0.0011018274831134504,
157
+ 0.9926466701237755,
158
+ -0.0031159143527860924
159
+ ],
160
+ "std": [
161
+ 0.004671090710355876,
162
+ 0.005437821735712215,
163
+ 0.005206192015836689,
164
+ 0.050127385114685036,
165
+ 0.1040846671058994,
166
+ 0.09726728784423108,
167
+ 0.10399347751888975,
168
+ 0.037436222315456694,
169
+ 0.04924989072357998
170
+ ],
171
+ "min": [
172
+ -0.11710213124752045,
173
+ -0.10837160795927048,
174
+ -0.12359952926635742,
175
+ -0.9983523488044739,
176
+ -0.9999969005584717,
177
+ -0.9996929168701172,
178
+ -0.9999999403953552,
179
+ -0.9882298111915588,
180
+ -0.9999707937240601
181
+ ],
182
+ "max": [
183
+ 0.1266135722398758,
184
+ 0.11029286682605743,
185
+ 0.1581210345029831,
186
+ 1.0,
187
+ 0.9999995827674866,
188
+ 0.9999927282333374,
189
+ 0.9999939799308777,
190
+ 1.0,
191
+ 0.9240257740020752
192
+ ],
193
+ "q01": [
194
+ -0.015349762961268425,
195
+ -0.01818230003118515,
196
+ -0.016857770029455425,
197
+ 0.7910478490591049,
198
+ -0.3547121694684029,
199
+ -0.32547953724861145,
200
+ -0.39166600942611696,
201
+ 0.8564396500587463,
202
+ -0.19182129204273224
203
+ ],
204
+ "q99": [
205
+ 0.015488565657287845,
206
+ 0.01819376874715095,
207
+ 0.01743551343679428,
208
+ 1.0,
209
+ 0.3680253326892853,
210
+ 0.34563232570886626,
211
+ 0.33110038548707976,
212
+ 1.0,
213
+ 0.12816283270716688
214
+ ]
215
+ },
216
+ "action.left_gripper": {
217
+ "mean": [
218
+ 0.2741009294203063
219
+ ],
220
+ "std": [
221
+ 0.3793757431989136
222
+ ],
223
+ "min": [
224
+ 0.0
225
+ ],
226
+ "max": [
227
+ 1.0
228
+ ],
229
+ "q01": [
230
+ 0.0
231
+ ],
232
+ "q99": [
233
+ 1.0
234
+ ]
235
+ },
236
+ "action.right_pose": {
237
+ "mean": [
238
+ -6.0291230165602785e-06,
239
+ -1.1847101910036486e-05,
240
+ 5.8859622729287475e-06,
241
+ 0.9847333403707548,
242
+ 0.0005639534053037314,
243
+ -0.002396498210051854,
244
+ 0.001896262913999231,
245
+ 0.9898970072571956,
246
+ -0.003081857729969542
247
+ ],
248
+ "std": [
249
+ 0.004996869875385924,
250
+ 0.005826077772930137,
251
+ 0.005523718463103569,
252
+ 0.059604300221640934,
253
+ 0.1243119897717802,
254
+ 0.10624520644723154,
255
+ 0.12451476356647183,
256
+ 0.04495350905672102,
257
+ 0.050656464556220644
258
+ ],
259
+ "min": [
260
+ -0.10497976094484329,
261
+ -0.12431329488754272,
262
+ -0.13881182670593262,
263
+ -0.9992079734802246,
264
+ -0.9999989867210388,
265
+ -0.999967634677887,
266
+ -0.999998927116394,
267
+ -0.9860256314277649,
268
+ -0.9994027614593506
269
+ ],
270
+ "max": [
271
+ 0.11213415116071701,
272
+ 0.12403572350740433,
273
+ 0.15115219354629517,
274
+ 1.0,
275
+ 0.999999463558197,
276
+ 0.9998862743377686,
277
+ 0.9999973177909851,
278
+ 1.0,
279
+ 0.9385237097740173
280
+ ],
281
+ "q01": [
282
+ -0.015114002861082554,
283
+ -0.019625000655651093,
284
+ -0.017964518386870625,
285
+ 0.7434160488843917,
286
+ -0.4282102805376053,
287
+ -0.3776134252548218,
288
+ -0.4022988975048065,
289
+ 0.8169229030609131,
290
+ -0.1913222074508667
291
+ ],
292
+ "q99": [
293
+ 0.016465195212513217,
294
+ 0.017687439918518066,
295
+ 0.01816247237846258,
296
+ 1.0,
297
+ 0.42191325843334226,
298
+ 0.3353780761361129,
299
+ 0.4516828656196594,
300
+ 1.0,
301
+ 0.12933801665902145
302
+ ]
303
+ },
304
+ "action.right_gripper": {
305
+ "mean": [
306
+ 0.42220015022399254
307
+ ],
308
+ "std": [
309
+ 0.40378356739848353
310
+ ],
311
+ "min": [
312
+ 0.0
313
+ ],
314
+ "max": [
315
+ 1.0
316
+ ],
317
+ "q01": [
318
+ 0.0
319
+ ],
320
+ "q99": [
321
+ 1.0
322
+ ]
323
+ },
324
+ "action.left_energy": {
325
+ "mean": [
326
+ 0.03212680880056448
327
+ ],
328
+ "std": [
329
+ 0.17633682813533008
330
+ ],
331
+ "min": [
332
+ 0.0
333
+ ],
334
+ "max": [
335
+ 1.0
336
+ ],
337
+ "q01": [
338
+ 0.0
339
+ ],
340
+ "q99": [
341
+ 1.0
342
+ ]
343
+ },
344
+ "action.right_energy": {
345
+ "mean": [
346
+ 0.11891085723446544
347
+ ],
348
+ "std": [
349
+ 0.3236835881941143
350
+ ],
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 1.0
356
+ ],
357
+ "q01": [
358
+ 0.0
359
+ ],
360
+ "q99": [
361
+ 1.0
362
+ ]
363
+ },
364
+ "state": {
365
+ "mean": [
366
+ 0.05569840139946073,
367
+ -0.5204217688357283,
368
+ -0.07525399280510553,
369
+ 0.34254049748151455,
370
+ -0.013815644021738951,
371
+ -0.1898095187950011,
372
+ 0.9054202697789081,
373
+ 0.2742240792779467,
374
+ -0.04995405752168582,
375
+ -0.5198842911262164,
376
+ -0.08052058868770862,
377
+ 0.3490813811127733,
378
+ -0.008097932243934186,
379
+ 0.17320913284964423,
380
+ 0.9054911605608629,
381
+ 0.42200181036129647
382
+ ],
383
+ "std": [
384
+ 0.05576638229420563,
385
+ 0.049798131896891404,
386
+ 0.05561023088762451,
387
+ 0.03138426933213015,
388
+ 0.12403599231827589,
389
+ 0.100246827310715,
390
+ 0.015565701924678661,
391
+ 0.3794572833699187,
392
+ 0.04948878088280612,
393
+ 0.050903126172592655,
394
+ 0.05384093063128345,
395
+ 0.02606008923425098,
396
+ 0.1294330130118611,
397
+ 0.10259020923999258,
398
+ 0.014289267203052954,
399
+ 0.40373819722961757
400
+ ],
401
+ "min": [
402
+ -0.19312143,
403
+ -0.7213115,
404
+ -0.30850315,
405
+ -0.002438717972881569,
406
+ -0.3785247146338994,
407
+ -0.38168779510199613,
408
+ 0.8660459964411489,
409
+ 0.0,
410
+ -0.35623565,
411
+ -0.7210254,
412
+ -0.30694115,
413
+ 0.0009219637867301552,
414
+ -0.3449654279638146,
415
+ -0.35948788177409857,
416
+ 0.8660293369759152,
417
+ 0.0
418
+ ],
419
+ "max": [
420
+ 0.4313178,
421
+ -0.32756642,
422
+ 0.26491505,
423
+ 0.382682724284466,
424
+ 0.36013379895171643,
425
+ 0.33716874446342615,
426
+ 0.9999999978907403,
427
+ 1.0,
428
+ 0.20329547,
429
+ -0.2940443,
430
+ 0.25433782,
431
+ 0.38268308242893656,
432
+ 0.3749265770265154,
433
+ 0.3816392146525004,
434
+ 0.9977112466872395,
435
+ 1.0
436
+ ],
437
+ "q01": [
438
+ -0.07808219494,
439
+ -0.6480413,
440
+ -0.20974149409999998,
441
+ 0.22824503721554223,
442
+ -0.3075925168875929,
443
+ -0.34544057669858785,
444
+ 0.8754287302561989,
445
+ 0.0,
446
+ -0.1778511687,
447
+ -0.6503451145,
448
+ -0.2057537629,
449
+ 0.2558827553077444,
450
+ -0.2450295626380514,
451
+ -0.1424528612958869,
452
+ 0.8757242926176408,
453
+ 0.0
454
+ ],
455
+ "q99": [
456
+ 0.18292570869999997,
457
+ -0.41190962840000006,
458
+ 0.08227307494999986,
459
+ 0.37980206049058024,
460
+ 0.23628551693922525,
461
+ 0.11669494461133376,
462
+ 0.9506971304331508,
463
+ 1.0,
464
+ 0.06589980275999996,
465
+ -0.41004657130000005,
466
+ 0.05705032145,
467
+ 0.38056351749529566,
468
+ 0.30609446004566504,
469
+ 0.3348916734044979,
470
+ 0.9407030033449105,
471
+ 1.0
472
+ ]
473
+ },
474
+ "state.left_pose": {
475
+ "mean": [
476
+ 0.05569840139946073,
477
+ -0.5204217688357283,
478
+ -0.07525399280510553,
479
+ 0.34254049748151455,
480
+ -0.013815644021738951,
481
+ -0.1898095187950011,
482
+ 0.9054202697789081
483
+ ],
484
+ "std": [
485
+ 0.05576638229420563,
486
+ 0.049798131896891404,
487
+ 0.05561023088762451,
488
+ 0.03138426933213015,
489
+ 0.12403599231827589,
490
+ 0.100246827310715,
491
+ 0.015565701924678661
492
+ ],
493
+ "min": [
494
+ -0.19312143,
495
+ -0.7213115,
496
+ -0.30850315,
497
+ -0.002438717972881569,
498
+ -0.3785247146338994,
499
+ -0.38168779510199613,
500
+ 0.8660459964411489
501
+ ],
502
+ "max": [
503
+ 0.4313178,
504
+ -0.32756642,
505
+ 0.26491505,
506
+ 0.382682724284466,
507
+ 0.36013379895171643,
508
+ 0.33716874446342615,
509
+ 0.9999999978907403
510
+ ],
511
+ "q01": [
512
+ -0.07808219494,
513
+ -0.6480413,
514
+ -0.20974149409999998,
515
+ 0.22824503721554223,
516
+ -0.3075925168875929,
517
+ -0.34544057669858785,
518
+ 0.8754287302561989
519
+ ],
520
+ "q99": [
521
+ 0.18292570869999997,
522
+ -0.41190962840000006,
523
+ 0.08227307494999986,
524
+ 0.37980206049058024,
525
+ 0.23628551693922525,
526
+ 0.11669494461133376,
527
+ 0.9506971304331508
528
+ ]
529
+ },
530
+ "state.left_gripper": {
531
+ "mean": [
532
+ 0.27422407927785025
533
+ ],
534
+ "std": [
535
+ 0.3794572833914247
536
+ ],
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 1.0
542
+ ],
543
+ "q01": [
544
+ 0.0
545
+ ],
546
+ "q99": [
547
+ 1.0
548
+ ]
549
+ },
550
+ "state.right_pose": {
551
+ "mean": [
552
+ -0.04995405752168582,
553
+ -0.5198842911262164,
554
+ -0.08052058868770862,
555
+ 0.3490813811127733,
556
+ -0.008097932243934186,
557
+ 0.17320913284964423,
558
+ 0.9054911605608629
559
+ ],
560
+ "std": [
561
+ 0.04948878088280612,
562
+ 0.050903126172592655,
563
+ 0.05384093063128345,
564
+ 0.02606008923425098,
565
+ 0.1294330130118611,
566
+ 0.10259020923999258,
567
+ 0.014289267203052954
568
+ ],
569
+ "min": [
570
+ -0.35623565,
571
+ -0.7210254,
572
+ -0.30694115,
573
+ 0.0009219637867301552,
574
+ -0.3449654279638146,
575
+ -0.35948788177409857,
576
+ 0.8660293369759152
577
+ ],
578
+ "max": [
579
+ 0.20329547,
580
+ -0.2940443,
581
+ 0.25433782,
582
+ 0.38268308242893656,
583
+ 0.3749265770265154,
584
+ 0.3816392146525004,
585
+ 0.9977112466872395
586
+ ],
587
+ "q01": [
588
+ -0.1778511687,
589
+ -0.6503451145,
590
+ -0.2057537629,
591
+ 0.2558827553077444,
592
+ -0.2450295626380514,
593
+ -0.1424528612958869,
594
+ 0.8757242926176408
595
+ ],
596
+ "q99": [
597
+ 0.06589980275999996,
598
+ -0.41004657130000005,
599
+ 0.05705032145,
600
+ 0.38056351749529566,
601
+ 0.30609446004566504,
602
+ 0.3348916734044979,
603
+ 0.9407030033449105
604
+ ]
605
+ },
606
+ "state.right_gripper": {
607
+ "mean": [
608
+ 0.4220018103615523
609
+ ],
610
+ "std": [
611
+ 0.40373819722813414
612
+ ],
613
+ "min": [
614
+ 0.0
615
+ ],
616
+ "max": [
617
+ 1.0
618
+ ],
619
+ "q01": [
620
+ 0.0
621
+ ],
622
+ "q99": [
623
+ 1.0
624
+ ]
625
+ }
626
+ }
cmr-surgical-60hz-fixed/prostatectomy/meta/tasks.jsonl ADDED
The diff for this file is too large to render. See raw diff