Datasets:

BitRobot
/

G1_WBT_Dex1_Building-Children-Table

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v3.0",
     "robot_type": "unitree_g1",
-    "total_episodes": 439,
-    "total_frames": 5222059,
     "total_tasks": 8,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 30,
     "splits": {
-        "train": "0:439"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",

 {
     "codebase_version": "v3.0",
     "robot_type": "unitree_g1",
+    "total_episodes": 459,
+    "total_frames": 5447024,
     "total_tasks": 8,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 30,
     "splits": {
+        "train": "0:459"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",

meta/stats.json CHANGED Viewed

@@ -29,105 +29,105 @@
             3.1385278701782227
         ],
         "mean": [
-            0.30331949183057455,
-            0.11716345150856974,
-            0.14258237766329643,
-            0.043045354120031874,
-            0.36888486515135793,
-            -1.0683388227147652,
-            0.30003265369087234,
-            -0.13644073938294896,
-            0.12116420602226986,
-            0.09668846497898691,
-            0.23609098336347423,
-            0.8271296404242755
         ],
         "std": [
-            0.037476981364219106,
-            0.05168908334220163,
-            0.05986809881193659,
-            0.2552457020691542,
-            0.3218682560512893,
-            0.45460140271875793,
-            0.036589660126301445,
-            0.043613977957147124,
-            0.050524689478968265,
-            0.21767803372796554,
-            0.20513543394820172,
-            0.41869803601770744
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            0.17954943618254013,
-            0.03163050026767178,
-            0.05872026056347185,
-            -0.6872983645258204,
-            -0.4516479875704167,
-            -1.6712615612600874,
-            0.20673928650985005,
-            -0.2478992748213388,
-            0.029555191453203816,
-            -0.6126749658759703,
-            -0.31625984169263466,
-            -0.14449905490415813
         ],
         "q10": [
-            0.2622545541374036,
-            0.06121454510968302,
-            0.09973988443324372,
-            -0.24369003286814364,
-            -0.13481226965611798,
-            -1.533633586907276,
-            0.26261398775929307,
-            -0.18071684205744606,
-            0.07324423611042445,
-            -0.07425781279168057,
-            0.009769979864614012,
-            0.28402081763982906
         ],
         "q50": [
-            0.30663429458816205,
-            0.11344444843371604,
-            0.12114927967511704,
-            0.06499947113703897,
-            0.4840187994763182,
-            -1.1618081146228294,
-            0.299174409987119,
-            -0.13741327942741052,
-            0.11243495488410356,
-            0.09070263098157949,
-            0.2533267643573844,
-            0.8549178417095157
         ],
         "q90": [
-            0.3411786115175828,
-            0.17601006609022574,
-            0.24338901153055004,
-            0.23937682191853044,
-            0.6532856872014132,
-            -0.37367762059958737,
-            0.34005670909397945,
-            -0.08833927599030036,
-            0.18658025381674068,
-            0.29636208484369325,
-            0.413842944749535,
-            1.3218147895501877
         ],
         "q99": [
-            0.36830654175019073,
-            0.2806744200069366,
-            0.317635950639113,
-            0.8127390244988696,
-            0.8994788635773407,
-            0.20062295915098216,
-            0.38393413983484376,
-            -0.040943367884664385,
-            0.24811542633246145,
-            0.686739589524653,
-            0.8593081101633683,
-            1.529281583037642
         ]
     },
     "observation.state.robot_q_current": {
@@ -136,8 +136,8 @@
             -3.833470106124878,
             0.0,
             -0.62253338098526,
-            -0.07463935017585754,
-            -0.07832742482423782,
             -0.9999988675117493,
             -0.7227180004119873,
             -0.1561422049999237,
@@ -200,7 +200,7 @@
             1.6051790714263916,
             0.8438811898231506,
             0.7630955576896667,
-            0.17549699544906616,
             0.8527974486351013,
             2.067854166030884,
             1.9686126708984375,
@@ -208,273 +208,273 @@
             1.6129688024520874
         ],
         "mean": [
-            0.016336455379727947,
-            0.17057932163540773,
-            0.70263493488388,
-            0.2779092968958595,
-            0.00653696975912524,
-            -0.004575889685910109,
-            0.3572319493373662,
-            -0.3717757451135601,
-            0.18620500201549228,
-            0.17788038265464245,
-            0.5945400976734564,
-            -0.18617815176824526,
-            -0.059366383147248424,
-            -0.39909453978133996,
-            -0.07735233884302008,
-            -0.05987869414791953,
-            0.6102140219710293,
-            -0.19034109398568905,
-            -0.007294720647104761,
-            0.07045692930927218,
-            -0.006485139377882386,
-            0.05934714326307389,
-            -0.5440482194707972,
-            0.3063220259872144,
-            -0.19172582338357164,
-            0.3496484969403784,
-            -0.09131472422512052,
-            0.29553620460296054,
-            -0.8688814939395069,
-            -0.4430501768793287,
-            -0.2711606872706297,
-            0.05485958213002481,
-            0.35297236974634155,
-            0.23074574807748596,
-            0.27513117363153133,
-            0.6954089767023212
         ],
         "std": [
-            0.8687855958376327,
-            0.7196017573864194,
-            0.0026811604517898856,
-            0.43247587721319425,
-            0.01702417765027398,
-            0.01087019443902591,
-            0.7795201688759243,
-            0.022260594578425594,
-            0.02547295950117826,
-            0.024156749473300255,
-            0.023617147607460042,
-            0.025883947672665282,
-            0.03188588089368218,
-            0.02260019375973028,
-            0.01900547062111998,
-            0.03209294788294319,
-            0.025726194342674254,
-            0.0334533653594671,
-            0.019994898076699717,
-            0.04276822457437647,
-            0.04595419193812747,
-            0.026449229549583526,
-            0.24175747501139613,
-            0.18107146171888622,
-            0.20138532663265854,
-            0.3767226578463215,
-            0.26688711678214866,
-            0.2816311665962474,
-            0.36642630408696536,
-            0.21540423868623648,
-            0.1674123694286401,
-            0.12877410599718542,
-            0.3773212678822117,
-            0.1865878507074535,
-            0.2819137205886012,
-            0.359992133100149
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            -0.0828171760262015,
-            0.061036022249556836,
-            0.6965590976436362,
-            0.19177275602091168,
-            -0.010131159252399791,
-            -0.019002415885993038,
-            0.3102760847778257,
-            -0.4215128500712116,
-            0.11630266586984025,
-            0.09498986253899681,
-            0.5566223212269347,
-            -0.271549654511715,
-            -0.10542783515310539,
-            -0.43440546165957983,
-            -0.10781036031749655,
-            -0.12770239416056958,
-            0.5547891093237486,
-            -0.29187909053601463,
-            -0.04417115963562795,
-            -0.005552906290127754,
-            -0.08356501644491264,
-            0.0280400273961507,
-            -0.9591469132119504,
-            -0.0680899965311017,
-            -0.45425495653071624,
-            -0.44601108622466024,
-            -0.8649725943503478,
-            -0.2341993243250378,
-            -1.369287121562086,
-            -1.0126080160300797,
-            -0.6521703770065314,
-            -0.36607275202645695,
-            -0.3152500969640089,
-            -0.11489872335507209,
-            -0.2166512915469123,
-            0.009936830800823141
         ],
         "q10": [
-            -0.03899575531289503,
-            0.11766570610487645,
-            0.6998791722290059,
-            0.22723776839944315,
-            -0.0011169549340593618,
-            -0.010138025924102815,
-            0.3295434539912063,
-            -0.3946588404970161,
-            0.16134384609779842,
-            0.15847749780080722,
-            0.5729802197651224,
-            -0.21075389366922112,
-            -0.08905001644417224,
-            -0.4184861867163896,
-            -0.09549314251812065,
-            -0.09079940540992237,
-            0.5835748154505322,
-            -0.22894170992208437,
-            -0.026536365876129286,
-            0.031579074268506,
-            -0.042656254019954445,
-            0.041995908785849335,
-            -0.7811707286954696,
-            0.08846028127653074,
-            -0.36864226058400007,
-            -0.14488472246148298,
-            -0.5470142671224633,
-            0.012048758027171352,
-            -1.2706877209017207,
-            -0.6593832286644692,
-            -0.46322827530518534,
-            -0.08234073642960311,
-            -0.09443486107616665,
-            0.07071615820520341,
-            0.016489531478042475,
-            0.228329878891174
         ],
         "q50": [
-            0.013666691054960085,
-            0.17354698817256942,
-            0.7027868800722256,
-            0.2784504959512379,
-            0.006669068274241531,
-            -0.004328935162464046,
-            0.3575595926642396,
-            -0.37135852317114276,
-            0.18958739435101643,
-            0.1801042773927818,
-            0.5922082102317762,
-            -0.18257057365733093,
-            -0.06121142642897755,
-            -0.40279580714246543,
-            -0.07878435669358266,
-            -0.058697637365213357,
-            0.609255153497718,
-            -0.18458080956503234,
-            -0.0077765390717600144,
-            0.07103294857639847,
-            -0.0054386990514565595,
-            0.05836817742967961,
-            -0.581764579026013,
-            0.3169985206477805,
-            -0.2687652462700937,
-            0.4065634090105961,
-            0.004528621198634566,
-            0.24568410583013064,
-            -0.9297338258118991,
-            -0.4428362026787268,
-            -0.27607764352317865,
-            0.06441398021809067,
-            0.3645766337318903,
-            0.19378935489681548,
-            0.21067302653832443,
-            0.706814760605606
         ],
         "q90": [
-            0.07115996421476499,
-            0.22121969101427308,
-            0.7052124276816694,
-            0.3286106962866514,
-            0.014048579976414306,
-            0.0009076030594925357,
-            0.38424433922046375,
-            -0.3507333080086753,
-            0.20782941942013167,
-            0.19841165697583843,
-            0.6169489970500659,
-            -0.1639589686223247,
-            -0.0285000714615606,
-            -0.37722273931677336,
-            -0.05815923634704351,
-            -0.029305295107652674,
-            0.6373245159253331,
-            -0.15830279963449953,
-            0.012590312823038456,
-            0.10957113031533294,
-            0.028469435155909432,
-            0.07732594252427995,
-            -0.21714729682061223,
-            0.5105570834730663,
-            0.11512743261565508,
-            0.7410243716798313,
-            0.10882375188156304,
-            0.7136229882130265,
-            -0.30165043380660006,
-            -0.2006526254553741,
-            -0.06000591732549688,
-            0.19215147316532272,
-            0.7641046408474171,
-            0.4631991173797648,
-            0.670810419575849,
-            1.1535114843463363
         ],
         "q99": [
-            0.15551758964759888,
-            0.26641270684000806,
-            0.7076406568534387,
-            0.3609886605141662,
-            0.022429800524404096,
-            0.006421946214346798,
-            0.40427977832919854,
-            -0.3222243580818185,
-            0.21754869911000188,
-            0.20961792363217488,
-            0.664358915241883,
-            -0.14925453395023114,
-            0.006760763861031655,
-            -0.3242710688662202,
-            -0.035778403162031715,
-            -0.010349936684701164,
-            0.6777366954797577,
-            -0.14345777819630415,
-            0.03475544633940464,
-            0.13808683647693576,
-            0.057727107563341366,
-            0.10488510649526202,
-            0.1715890520328284,
-            0.7606125530076503,
-            0.3667055773700812,
-            1.0730581976419449,
-            0.276471649860059,
-            0.947351733289224,
-            -0.017891719655461276,
-            0.04310804081543127,
-            0.046457900338209415,
-            0.2853194564176575,
-            1.225966443784545,
-            0.7884660218019911,
-            1.0343188808356065,
-            1.2855040448822759
         ]
     },
     "observation.images.cam_3": {
@@ -515,122 +515,122 @@
         "mean": [
             [
                 [
-                    0.35376909423394415
                 ]
             ],
             [
                 [
-                    0.3687857333273002
                 ]
             ],
             [
                 [
-                    0.3611201457702739
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.006248502269038146
                 ]
             ],
             [
                 [
-                    0.007445060565796706
                 ]
             ],
             [
                 [
-                    0.00955439969383482
                 ]
             ]
         ],
         "count": [
-            100262995200
         ],
         "q01": [
             [
                 [
-                    -6.120279600776321e-12
                 ]
             ],
             [
                 [
-                    0.011792580545913372
                 ]
             ],
             [
                 [
-                    0.0004926485170639058
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.027151014946763575
                 ]
             ],
             [
                 [
-                    0.0535051140895445
                 ]
             ],
             [
                 [
-                    0.03957811396943343
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2792961320743536
                 ]
             ],
             [
                 [
-                    0.29667448556370885
                 ]
             ],
             [
                 [
-                    0.28525894714974703
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.8283063858135294
                 ]
             ],
             [
                 [
-                    0.8008164377119696
                 ]
             ],
             [
                 [
-                    0.810230153702391
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9897315264642264
                 ]
             ],
             [
                 [
-                    0.9921565174463702
                 ]
             ],
             [
                 [
-                    0.9812998599963743
                 ]
             ]
         ]
@@ -673,122 +673,122 @@
         "mean": [
             [
                 [
-                    0.37118383064699184
                 ]
             ],
             [
                 [
-                    0.39165516479186374
                 ]
             ],
             [
                 [
-                    0.3905005544647981
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.007262135761041341
                 ]
             ],
             [
                 [
-                    0.007309089292124266
                 ]
             ],
             [
                 [
-                    0.009393468030092935
                 ]
             ]
         ],
         "count": [
-            100262649600
         ],
         "q01": [
             [
                 [
-                    -2.9380275083836956e-11
                 ]
             ],
             [
                 [
-                    0.01875847937242781
                 ]
             ],
             [
                 [
-                    0.009600893803069454
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.029535418554954937
                 ]
             ],
             [
                 [
-                    0.06592280644521974
                 ]
             ],
             [
                 [
-                    0.05951216281249059
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.3060197735690688
                 ]
             ],
             [
                 [
-                    0.32355716999083733
                 ]
             ],
             [
                 [
-                    0.31813011924303886
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.8502495974501608
                 ]
             ],
             [
                 [
-                    0.8448353790653549
                 ]
             ],
             [
                 [
-                    0.8715377671617819
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9851551897344017
                 ]
             ],
             [
                 [
-                    0.9921614837846164
                 ]
             ],
             [
                 [
-                    0.9897553432015765
                 ]
             ]
         ]
@@ -801,28 +801,28 @@
             35166
         ],
         "mean": [
-            6281.820375449605
         ],
         "std": [
-            4160.767313130345
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            125.16315661255734
         ],
         "q10": [
-            1256.0442594350395
         ],
         "q50": [
-            6281.984207965594
         ],
         "q90": [
-            11307.596491464154
         ],
         "q99": [
-            12438.47759428666
         ]
     },
     "observation.images.cam_1": {
@@ -863,122 +863,122 @@
         "mean": [
             [
                 [
-                    0.3453855279853266
                 ]
             ],
             [
                 [
-                    0.37534775156740435
                 ]
             ],
             [
                 [
-                    0.33859288278694927
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.012935049118609005
                 ]
             ],
             [
                 [
-                    0.01225886109450359
                 ]
             ],
             [
                 [
-                    0.012327854319879568
                 ]
             ]
         ],
         "count": [
-            100263513600
         ],
         "q01": [
             [
                 [
-                    -1.7444612757622232e-11
                 ]
             ],
             [
                 [
-                    0.007526695105191693
                 ]
             ],
             [
                 [
-                    -1.7444612757622232e-11
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.00010750183404251577
                 ]
             ],
             [
                 [
-                    0.030879730225454656
                 ]
             ],
             [
                 [
-                    -1.7444612757622232e-11
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.14717947910565682
                 ]
             ],
             [
                 [
-                    0.18319661721157762
                 ]
             ],
             [
                 [
-                    0.13725269846942648
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9290751984380706
                 ]
             ],
             [
                 [
-                    0.9571298663997542
                 ]
             ],
             [
                 [
-                    0.9293108511846112
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9759124980796428
                 ]
             ],
             [
                 [
-                    0.9916671044092554
                 ]
             ],
             [
                 [
-                    0.9705841071843769
                 ]
             ]
         ]
@@ -1021,122 +1021,122 @@
         "mean": [
             [
                 [
-                    0.20825367241719203
                 ]
             ],
             [
                 [
-                    0.21609665040076706
                 ]
             ],
             [
                 [
-                    0.20433212742823012
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0034334087349953074
                 ]
             ],
             [
                 [
-                    0.003433417859289539
                 ]
             ],
             [
                 [
-                    0.0034334076195642626
                 ]
             ]
         ],
         "count": [
-            100263532800
         ],
         "q01": [
             [
                 [
-                    0.05473915590226635
                 ]
             ],
             [
                 [
-                    0.06256569997726408
                 ]
             ],
             [
                 [
-                    0.05078336641882362
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.0612078087630451
                 ]
             ],
             [
                 [
-                    0.06904047890087207
                 ]
             ],
             [
                 [
-                    0.05732337269453924
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.12598788978174089
                 ]
             ],
             [
                 [
-                    0.13385167651412666
                 ]
             ],
             [
                 [
-                    0.12207060593518486
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.46703431711773774
                 ]
             ],
             [
                 [
-                    0.4748886030258941
                 ]
             ],
             [
                 [
-                    0.4631023808592466
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7406289567450677
                 ]
             ],
             [
                 [
-                    0.7484454996050645
                 ]
             ],
             [
                 [
-                    0.7366929287474923
                 ]
             ]
         ]
@@ -1179,122 +1179,122 @@
         "mean": [
             [
                 [
-                    0.18857694711346
                 ]
             ],
             [
                 [
-                    0.19641983689104742
                 ]
             ],
             [
                 [
-                    0.18465541456118123
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.003898252038159024
                 ]
             ],
             [
                 [
-                    0.003898211284209865
                 ]
             ],
             [
                 [
-                    0.003898258199337614
                 ]
             ]
         ],
         "count": [
-            100263513600
         ],
         "q01": [
             [
                 [
-                    0.054573302048152535
                 ]
             ],
             [
                 [
-                    0.06240153594457868
                 ]
             ],
             [
                 [
-                    0.05060440725488556
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.0591610380627722
                 ]
             ],
             [
                 [
-                    0.06694820728832
                 ]
             ],
             [
                 [
-                    0.05520429540166232
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.10255806580059297
                 ]
             ],
             [
                 [
-                    0.11039347835766206
                 ]
             ],
             [
                 [
-                    0.09859254449167729
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.4410700652544825
                 ]
             ],
             [
                 [
-                    0.4489214605282582
                 ]
             ],
             [
                 [
-                    0.43715450137553286
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7581133526778246
                 ]
             ],
             [
                 [
-                    0.765943190429345
                 ]
             ],
             [
                 [
-                    0.7541837728753247
                 ]
             ]
         ]
@@ -1307,28 +1307,28 @@
             1172.2
         ],
         "mean": [
-            209.39401251498748
         ],
         "std": [
-            138.69224377101162
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            4.172105220323843
         ],
         "q10": [
-            41.86814198109072
         ],
         "q50": [
-            209.39814204005737
         ],
         "q90": [
-            376.91988304888275
         ],
         "q99": [
-            414.6159198096505
         ]
     },
     "observation.images.cam_2_ir": {
@@ -1369,122 +1369,122 @@
         "mean": [
             [
                 [
-                    0.19784427548861616
                 ]
             ],
             [
                 [
-                    0.20568736105033497
                 ]
             ],
             [
                 [
-                    0.19392271311742298
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0037339321720707675
                 ]
             ],
             [
                 [
-                    0.0037339194129243536
                 ]
             ],
             [
                 [
-                    0.003733933669935128
                 ]
             ]
         ],
         "count": [
-            100263532800
         ],
         "q01": [
             [
                 [
-                    0.05404685059881546
                 ]
             ],
             [
                 [
-                    0.06188671203750129
                 ]
             ],
             [
                 [
-                    0.050081171024698945
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.05887293962405348
                 ]
             ],
             [
                 [
-                    0.06663208589362017
                 ]
             ],
             [
                 [
-                    0.05488107482778479
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.11718699829896416
                 ]
             ],
             [
                 [
-                    0.12502288550103266
                 ]
             ],
             [
                 [
-                    0.11329363392186931
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.4478643660653252
                 ]
             ],
             [
                 [
-                    0.45571723248404894
                 ]
             ],
             [
                 [
-                    0.44394961456023785
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7573159999573087
                 ]
             ],
             [
                 [
-                    0.765149837922115
                 ]
             ],
             [
                 [
-                    0.7533875940482312
                 ]
             ]
         ]
@@ -1527,122 +1527,122 @@
         "mean": [
             [
                 [
-                    0.34822025940135276
                 ]
             ],
             [
                 [
-                    0.37842711884319225
                 ]
             ],
             [
                 [
-                    0.34210825362267
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.009334907369185337
                 ]
             ],
             [
                 [
-                    0.008710536638171411
                 ]
             ],
             [
                 [
-                    0.008627117690019441
                 ]
             ]
         ],
         "count": [
-            100263456000
         ],
         "q01": [
             [
                 [
-                    -1.8227476257797334e-11
                 ]
             ],
             [
                 [
-                    0.00794437551601187
                 ]
             ],
             [
                 [
-                    -1.8227476257797334e-11
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    -1.8227476257797334e-11
                 ]
             ],
             [
                 [
-                    0.028577006144001105
                 ]
             ],
             [
                 [
-                    -1.8227476257797334e-11
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.15379573802429053
                 ]
             ],
             [
                 [
-                    0.18808991638363043
                 ]
             ],
             [
                 [
-                    0.14103571370295642
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9194881039149532
                 ]
             ],
             [
                 [
-                    0.9483079048726962
                 ]
             ],
             [
                 [
-                    0.9214378243519434
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9758439971618948
                 ]
             ],
             [
                 [
-                    0.9916905955596735
                 ]
             ],
             [
                 [
-                    0.9732805217416034
                 ]
             ]
         ]
@@ -1677,105 +1677,105 @@
             2.1786434650421143
         ],
         "mean": [
-            0.30335555640170664,
-            0.12305587715568862,
-            0.13859630390032637,
-            0.03752867642284457,
-            0.3867361156551526,
-            -1.0527833995713896,
-            0.3021260810009,
-            -0.14102457336069302,
-            0.1231437893774372,
-            0.09150711604025084,
-            0.22102267180654167,
-            0.8079517357371593
         ],
         "std": [
-            0.0375130348615031,
-            0.04871614317195659,
-            0.05965089153977303,
-            0.2483206036425087,
-            0.3215015384079499,
-            0.42414940981358107,
-            0.038384130137306675,
-            0.037113104002786765,
-            0.04605716039357355,
-            0.20461681082672317,
-            0.20162180792935208,
-            0.39696149720395724
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            0.17435618275852485,
-            0.042711732313856124,
-            0.02721177402136072,
-            -0.6674810211668373,
-            -0.44025571326602453,
-            -1.6112384659890402,
-            0.19103970206415793,
-            -0.24438120896088955,
-            0.009922164858963948,
-            -0.47985211141108386,
-            -0.28636547742683116,
-            -0.038540882812788536
         ],
         "q10": [
-            0.26153585199010937,
-            0.06969835266493647,
-            0.1022728941381485,
-            -0.2557549555753503,
-            -0.12623372635043245,
-            -1.482843667613447,
-            0.2639307760819987,
-            -0.17986513211806507,
-            0.08952890529563791,
-            -0.059285244379420954,
-            0.014974088415267942,
-            0.2934990223603739
         ],
         "q50": [
-            0.30808705528610686,
-            0.11962461908339345,
-            0.11565014124658166,
-            0.06309836799328464,
-            0.5200299052628068,
-            -1.1413216371144281,
-            0.301075624620204,
-            -0.1401708573691857,
-            0.11384033304965313,
-            0.07437589155611445,
-            0.22840678185401972,
-            0.8328705360464026
         ],
         "q90": [
-            0.3392367346243685,
-            0.17760425035762073,
-            0.23756464698661883,
-            0.21649106592988984,
-            0.645676466877544,
-            -0.3890104573440331,
-            0.3453641457668802,
-            -0.1011354654239823,
-            0.17990713517174983,
-            0.2923287266029043,
-            0.37578159224896157,
-            1.291886351389724
         ],
         "q99": [
-            0.3654978874781224,
-            0.2822704320779471,
-            0.3135986783707914,
-            0.813152279216531,
-            0.9199930521943628,
-            0.10783509871898701,
-            0.3839713032896142,
-            -0.0681623807740267,
-            0.2349818547927352,
-            0.6992783476214025,
-            0.9328527525477185,
-            1.4963685439485532
         ]
     },
     "task_index": {
@@ -1786,28 +1786,28 @@
             7
         ],
         "mean": [
-            2.8339250858713005
         ],
         "std": [
-            1.5545309084369683
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            0.0010042014994241723
         ],
         "q10": [
-            0.47517046457009277
         ],
         "q50": [
-            2.8863800516121025
         ],
         "q90": [
-            4.723910892869244
         ],
         "q99": [
-            6.069815017569852
         ]
     },
     "observation.state.hand_state": {
@@ -1820,35 +1820,35 @@
             4.612534523010254
         ],
         "mean": [
-            1.2822859120144963,
-            3.145253017544634
         ],
         "std": [
-            1.4933689131038193,
-            0.8442168085249966
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            0.1278087241942567,
-            1.4135705501069864
         ],
         "q10": [
-            0.20048996602065683,
-            2.2257386669464503
         ],
         "q50": [
-            0.3257339798042804,
-            3.0708727537858658
         ],
         "q90": [
-            3.942871037365802,
-            4.270355931870495
         ],
         "q99": [
-            4.4984522728564915,
-            4.506563026386363
         ]
     },
     "action.hand_cmd": {
@@ -1861,35 +1861,35 @@
             4.5
         ],
         "mean": [
-            1.1343229605633045,
-            2.995911792599158
         ],
         "std": [
-            1.5638037744160558,
-            0.9668945455511297
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            0.0006045999200259315,
-            1.2181240511216844
         ],
         "q10": [
-            0.0006045999200259315,
-            1.8783660123168424
         ],
         "q50": [
-            0.13868049947913172,
-            2.942605636420377
         ],
         "q90": [
-            3.9415774902178824,
-            4.268840529503398
         ],
         "q99": [
-            4.498201364401622,
-            4.499713541752777
         ]
     },
     "index": {
@@ -1897,31 +1897,31 @@
             0
         ],
         "max": [
-            5222058
         ],
         "mean": [
-            2611029.0
         ],
         "std": [
-            1507478.5846870248
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            2604872.3427811633
         ],
         "q10": [
-            2606003.223883986
         ],
         "q50": [
-            2611029.193027752
         ],
         "q90": [
-            2616054.837404596
         ],
         "q99": [
-            2617185.663243246
         ]
     },
     "action.robot_q_desired": {
@@ -1930,8 +1930,8 @@
             -3.833470106124878,
             0.0,
             -0.62253338098526,
-            -0.07463935017585754,
-            -0.07832742482423782,
             -0.9999988675117493,
             -0.8303020596504211,
             -0.06803855299949646,
@@ -1949,7 +1949,7 @@
             -0.27163684368133545,
             -0.10674852877855301,
             -1.6070531606674194,
-            -0.4193490147590637,
             -0.9358727335929871,
             -1.0471998453140259,
             -1.9461331367492676,
@@ -2002,273 +2002,273 @@
             1.6144291162490845
         ],
         "mean": [
-            0.016336455379727947,
-            0.17057932163540773,
-            0.70263493488388,
-            0.2779092968958595,
-            0.00653696975912524,
-            -0.004575889685910109,
-            0.3572319493373662,
-            -0.35816148535976833,
-            0.2259943903389288,
-            0.16230744624392177,
-            0.5231874874385594,
-            -0.3938175996676023,
-            -0.030445191470177716,
-            -0.3560813400465715,
-            -0.14074709734662186,
-            -0.018025793968457954,
-            0.5368833772671604,
-            -0.3940142747703251,
-            -0.19433826872778812,
-            0.07052032768007822,
-            -0.007129374779727506,
-            -0.002187806049503136,
-            -0.5493638940077408,
-            0.2973709041584696,
-            -0.20031110751086798,
-            0.3411453580701483,
-            -0.09750312306522228,
-            0.29071535778631513,
-            -0.8705639089241091,
-            -0.43981422862349806,
-            -0.2667749714865397,
-            0.06907891793706433,
-            0.35732962768144483,
-            0.22805784105516633,
-            0.2848418330051335,
-            0.7036861343762033
         ],
         "std": [
-            0.8687855958376327,
-            0.7196017573864194,
-            0.0026811604517898856,
-            0.43247587721319425,
-            0.01702417765027398,
-            0.01087019443902591,
-            0.7795201688759243,
-            0.01955540897539669,
-            0.018122854053620407,
-            0.028285538286178188,
-            0.028362170070287573,
-            0.13459066759264568,
-            0.07233270555170533,
-            0.02327823709168617,
-            0.02306245221910262,
-            0.028912593954488603,
-            0.03314847244481078,
-            0.1745289435196646,
-            0.0689594635958845,
-            0.04211972859048942,
-            0.0395947576879728,
-            0.025530304483402183,
-            0.24463286259160497,
-            0.18599722529841656,
-            0.20586166741542627,
-            0.3785266816808437,
-            0.26658606081415515,
-            0.28425914205217573,
-            0.37309759534808845,
-            0.2147347476309839,
-            0.1767529715097121,
-            0.13520041262462967,
-            0.3874636627007304,
-            0.1870906791187198,
-            0.2786137944296011,
-            0.36237676335987307
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            -0.0828171760262015,
-            0.061036022249556836,
-            0.6965590976436362,
-            0.19177275602091168,
-            -0.010131159252399791,
-            -0.019002415885993038,
-            0.3102760847778257,
-            -0.3988002149623902,
-            0.16932567280773178,
-            0.052175468278423995,
-            0.4702336289581501,
-            -0.8039304183358228,
-            -0.15576595694471998,
-            -0.40502675715122105,
-            -0.1929673351539484,
-            -0.09363852508279726,
-            0.4582192001617954,
-            -0.8382958089979669,
-            -0.3121806544033876,
-            -0.005774748816142279,
-            -0.06996300993758763,
-            -0.02832408296858011,
-            -0.9690403548739029,
-            -0.08145156826341944,
-            -0.4671385808798113,
-            -0.4569375476334627,
-            -0.8750647535029936,
-            -0.23492523610283164,
-            -1.390633339380833,
-            -1.016582960409781,
-            -0.6590959151957179,
-            -0.37067106415198076,
-            -0.32622890075009464,
-            -0.12332693143146549,
-            -0.2172509059800979,
-            0.0025516883062200687
         ],
         "q10": [
-            -0.03899575531289503,
-            0.11766570610487645,
-            0.6998791722290059,
-            0.22723776839944315,
-            -0.0011169549340593618,
-            -0.010138025924102815,
-            0.3295434539912063,
-            -0.37256657109706076,
-            0.21307162666017632,
-            0.1413483957215013,
-            0.49942899511746935,
-            -0.5442295051178577,
-            -0.10331266257545346,
-            -0.3766883422505865,
-            -0.16103036533242993,
-            -0.04384563023446933,
-            0.5012573919936829,
-            -0.6099878854921099,
-            -0.26667584723723703,
-            0.033436158660232855,
-            -0.03772431907518289,
-            -0.017890030536551565,
-            -0.7945923473165735,
-            0.07264339741017553,
-            -0.3879174812153428,
-            -0.15362635612266987,
-            -0.5517024284815748,
-            0.004441263899381396,
-            -1.286855385966966,
-            -0.6543239975835035,
-            -0.46699370301089443,
-            -0.08137111200534025,
-            -0.10486402484486633,
-            0.06923833992095961,
-            0.028803029426470665,
-            0.23513635689391296
         ],
         "q50": [
-            0.013666691054960085,
-            0.17354698817256942,
-            0.7027868800722256,
-            0.2784504959512379,
-            0.006669068274241531,
-            -0.004328935162464046,
-            0.3575595926642396,
-            -0.3590296999982702,
-            0.2267094346441128,
-            0.16754063229666608,
-            0.5213549569627433,
-            -0.3787961767809812,
-            -0.034838213558066475,
-            -0.35625913775047113,
-            -0.14042743920349318,
-            -0.017387293753668452,
-            0.5374305670844608,
-            -0.38107603260135753,
-            -0.20343489638237072,
-            0.07105391243079708,
-            -0.006916838022788751,
-            -0.00447700160995393,
-            -0.5848115746873458,
-            0.3068405192343231,
-            -0.27370960728718996,
-            0.3950146323705892,
-            -0.005010778371984786,
-            0.23920263836025055,
-            -0.9311557800121383,
-            -0.43943575775402216,
-            -0.27646077657640394,
-            0.08139350710393416,
-            0.3660933011625491,
-            0.19065824813096227,
-            0.22503078582139646,
-            0.7115375050435384
         ],
         "q90": [
-            0.07115996421476499,
-            0.22121969101427308,
-            0.7052124276816694,
-            0.3286106962866514,
-            0.014048579976414306,
-            0.0009076030594925357,
-            0.38424433922046375,
-            -0.34477228297630363,
-            0.23930159947555027,
-            0.18198042376758344,
-            0.5464326832684386,
-            -0.26650131871744187,
-            0.04210305490515881,
-            -0.3377923257549727,
-            -0.12029871129877355,
-            0.00774264985885283,
-            0.5683994667409631,
-            -0.20523449369635915,
-            -0.10894271567960301,
-            0.10822496423319443,
-            0.023251717675950537,
-            0.015724424251731487,
-            -0.22040400097858662,
-            0.509151468547713,
-            0.11078509844343627,
-            0.738492954662351,
-            0.10477072377917535,
-            0.7139348665525408,
-            -0.30058163084194595,
-            -0.1996400678403731,
-            -0.03519394167957649,
-            0.21141745932975883,
-            0.7884199694180153,
-            0.4617312424492348,
-            0.6707569692748339,
-            1.1659844042637686
         ],
         "q99": [
-            0.15551758964759888,
-            0.26641270684000806,
-            0.7076406568534387,
-            0.3609886605141662,
-            0.022429800524404096,
-            0.006421946214346798,
-            0.40427977832919854,
-            -0.29753544459056125,
-            0.2611588853468492,
-            0.19048212683896118,
-            0.6132988097132696,
-            -0.12268924996894764,
-            0.16076782629242534,
-            -0.2862124707059248,
-            -0.08947403230850913,
-            0.03744347889979392,
-            0.6309347166307459,
-            -0.013622911219557495,
-            0.0009633430416191611,
-            0.13590251566102526,
-            0.05297493344981527,
-            0.050800521985039516,
-            0.17081346585019216,
-            0.762799963479664,
-            0.3646481975133052,
-            1.0805180012058637,
-            0.27297115593268506,
-            0.9507712964918689,
-            -0.01718362523165748,
-            0.0416347980720997,
-            0.07710501949584524,
-            0.30963421143096137,
-            1.2414177993228395,
-            0.7909754502274783,
-            1.0390156051258035,
-            1.3041511047088894
         ]
     },
     "episode_index": {
@@ -2276,31 +2276,31 @@
             0
         ],
         "max": [
-            438
         ],
         "mean": [
-            213.29724156697577
         ],
         "std": [
-            130.61505851621638
         ],
         "count": [
-            5222059
         ],
         "q01": [
-            213.29724156697577
         ],
         "q10": [
-            213.29724156697577
         ],
         "q50": [
-            213.29724156697577
         ],
         "q90": [
-            213.29724156697577
         ],
         "q99": [
-            213.29724156697577
         ]
     },
     "observation.images.cam_3_ir": {
@@ -2341,122 +2341,122 @@
         "mean": [
             [
                 [
-                    0.19977754187525618
                 ]
             ],
             [
                 [
-                    0.2076206253785853
                 ]
             ],
             [
                 [
-                    0.19585597853403208
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.007079081865846001
                 ]
             ],
             [
                 [
-                    0.007079066203829432
                 ]
             ],
             [
                 [
-                    0.007079083233998385
                 ]
             ]
         ],
         "count": [
-            100263513600
         ],
         "q01": [
             [
                 [
-                    0.05211161361976428
                 ]
             ],
             [
                 [
-                    0.05997214882518527
                 ]
             ],
             [
                 [
-                    0.048194677766323045
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.05857572986560075
                 ]
             ],
             [
                 [
-                    0.06634443466369622
                 ]
             ],
             [
                 [
-                    0.05459899204970886
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.11201403607989935
                 ]
             ],
             [
                 [
-                    0.11984322532857286
                 ]
             ],
             [
                 [
-                    0.10808618917400205
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.4721043119941361
                 ]
             ],
             [
                 [
-                    0.4799461911321869
                 ]
             ],
             [
                 [
-                    0.4681730916177173
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.8058795360784899
                 ]
             ],
             [
                 [
-                    0.8137274395259426
                 ]
             ],
             [
                 [
-                    0.8019477268920817
                 ]
             ]
         ]

             3.1385278701782227
         ],
         "mean": [
+            0.3028001328814838,
+            0.11735384288132447,
+            0.14311321349058787,
+            0.045680703495343665,
+            0.3692197988716626,
+            -1.0697905505153795,
+            0.2995261407238348,
+            -0.13615414811002177,
+            0.12192182559653753,
+            0.0970790421151661,
+            0.23418170399491134,
+            0.8310903170100606
         ],
         "std": [
+            0.037579343783410456,
+            0.05140301245655677,
+            0.059601950659881914,
+            0.25455644940519473,
+            0.32169347506058,
+            0.4538543061944343,
+            0.036629887139120944,
+            0.04334513504875802,
+            0.05039828431337463,
+            0.2167850798891129,
+            0.20568850559590712,
+            0.4181707886705201
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            0.1788375545897967,
+            0.03194674587623644,
+            0.057461371528990855,
+            -0.6834825088276477,
+            -0.4486856838151583,
+            -1.6759180821569362,
+            0.20567342781598588,
+            -0.24644113151414787,
+            0.028666839405008682,
+            -0.6027914955433623,
+            -0.3178311395001794,
+            -0.13725518195453504
         ],
         "q10": [
+            0.2614449223771628,
+            0.06141487907934665,
+            0.10053041096439326,
+            -0.2399075396305104,
+            -0.13449737773403994,
+            -1.5378447923157406,
+            0.2619933468899071,
+            -0.18027438950166247,
+            0.07436452064890162,
+            -0.07410380568370711,
+            0.007488316273571165,
+            0.2897521161404366
         ],
         "q50": [
+            0.30618223115815396,
+            0.11379198698039213,
+            0.1220621834055804,
+            0.06805714066550934,
+            0.4836054380055887,
+            -1.1608061965441125,
+            0.29873807795739954,
+            -0.13717858048610854,
+            0.11352622557575669,
+            0.09104598448108693,
+            0.2511309785607493,
+            0.8568815774842885
         ],
         "q90": [
+            0.3408119773008556,
+            0.1757978361451183,
+            0.2431288932371851,
+            0.24099830578680229,
+            0.6542496594363727,
+            -0.37656280775007445,
+            0.33945606414291646,
+            -0.08808006732045147,
+            0.1865323768177613,
+            0.2957230187287741,
+            0.4122843664277303,
+            1.3280163609198794
         ],
         "q99": [
+            0.3678426645974878,
+            0.27979658930483325,
+            0.3165873372702715,
+            0.8116977316720204,
+            0.9014293511876316,
+            0.1908101957320549,
+            0.38372574499064727,
+            -0.04104999877627743,
+            0.24774104730845134,
+            0.6893926662255309,
+            0.8605615210877727,
+            1.5340442452830654
         ]
     },
     "observation.state.robot_q_current": {
             -3.833470106124878,
             0.0,
             -0.62253338098526,
+            -0.07766781747341156,
+            -0.07864603400230408,
             -0.9999988675117493,
             -0.7227180004119873,
             -0.1561422049999237,
             1.6051790714263916,
             0.8438811898231506,
             0.7630955576896667,
+            0.17621605098247528,
             0.8527974486351013,
             2.067854166030884,
             1.9686126708984375,
             1.6129688024520874
         ],
         "mean": [
+            0.008749711133767653,
+            0.17141057282483502,
+            0.7026192307112937,
+            0.28443799656597,
+            0.005896199508163498,
+            -0.004861979913905046,
+            0.31959518856878255,
+            -0.37190254494404096,
+            0.1856458302455833,
+            0.1774045692209964,
+            0.5947407821631271,
+            -0.18638744446767144,
+            -0.05893369407056476,
+            -0.3993506907190826,
+            -0.07688718976335913,
+            -0.060329445808717214,
+            0.6097844874369015,
+            -0.18980977319430423,
+            -0.008000549880706247,
+            0.06888050284312722,
+            -0.006011294585085268,
+            0.06112200968301877,
+            -0.5414824130886394,
+            0.30876489771503224,
+            -0.1926554114382342,
+            0.3422909851964411,
+            -0.0923203671775586,
+            0.29693951934250956,
+            -0.8700379933678485,
+            -0.4406254029009572,
+            -0.27171703721988916,
+            0.05565849378149393,
+            0.34425151613612137,
+            0.2324928385487018,
+            0.2793188065029682,
+            0.6972951054936227
         ],
         "std": [
+            0.8886947524266697,
+            0.705477860668341,
+            0.002677062646843706,
+            0.435133401606051,
+            0.01717641083026247,
+            0.010975898698591991,
+            0.791925784669224,
+            0.022379891177332297,
+            0.0256450661389759,
+            0.024387306778573075,
+            0.023648177981374335,
+            0.02615202271419595,
+            0.03197626945286709,
+            0.02285515542523925,
+            0.01918679360225516,
+            0.03292420391076025,
+            0.026026147288837235,
+            0.034056418848347196,
+            0.020287252093541156,
+            0.043300633405422874,
+            0.04556947927832715,
+            0.028696910360173862,
+            0.24199038623764968,
+            0.181692303697774,
+            0.20069198996007526,
+            0.3781222867253146,
+            0.266209158046073,
+            0.28182698063663897,
+            0.366882570902059,
+            0.21491471093742623,
+            0.16783165804661276,
+            0.12868342801918137,
+            0.3766118386602257,
+            0.1861745014761167,
+            0.28061991348998955,
+            0.3613191733586299
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            -0.09088154544489206,
+            0.06326572488353047,
+            0.6965578110015321,
+            0.19824480290266272,
+            -0.01091206194877357,
+            -0.019281258085531508,
+            0.27198967470336055,
+            -0.4213801939523697,
+            0.11553468898536919,
+            0.0942744830367144,
+            0.5563657513495356,
+            -0.27216033353870084,
+            -0.10517638726240372,
+            -0.43470655739153974,
+            -0.1077442879470825,
+            -0.1298492990791106,
+            0.5537659537899701,
+            -0.2923580692214691,
+            -0.04486046326582014,
+            -0.007729800836833299,
+            -0.08282001479192597,
+            0.02880127797441525,
+            -0.9557694859952737,
+            -0.06724978419223623,
+            -0.453675879619916,
+            -0.4511175281966127,
+            -0.8643694510673049,
+            -0.23256079753764752,
+            -1.3733326383199953,
+            -1.0106231179523035,
+            -0.651369082602514,
+            -0.36510632510966823,
+            -0.32057782078855346,
+            -0.11196752578823928,
+            -0.21107940348563425,
+            0.009081746436023155
         ],
         "q10": [
+            -0.04708867015313579,
+            0.11880130104500998,
+            0.6998706917450751,
+            0.23395179666154503,
+            -0.0017801480760138851,
+            -0.01044902598584738,
+            0.2915575972721685,
+            -0.3948633715853956,
+            0.1606548036860347,
+            0.1576166085272801,
+            0.5731219478641396,
+            -0.21133786741293814,
+            -0.08863363196697885,
+            -0.41902425281101946,
+            -0.09530229451227579,
+            -0.0921087377469601,
+            0.5827871956768509,
+            -0.22913113229411647,
+            -0.027317100146684904,
+            0.029759646723148,
+            -0.041950918173961335,
+            0.04306173026753297,
+            -0.7784659575093472,
+            0.08984459479856452,
+            -0.3695442095236921,
+            -0.15214481847948108,
+            -0.5463796619668667,
+            0.010691900248381668,
+            -1.2745214229216864,
+            -0.6552990944265463,
+            -0.46477957774534634,
+            -0.08173166300532168,
+            -0.10049028723999492,
+            0.07195758548418203,
+            0.021786801021323837,
+            0.23011292345214893
         ],
         "q50": [
+            0.006070299326158615,
+            0.17433240873176573,
+            0.7027666617110195,
+            0.2850429353418989,
+            0.006033617038848054,
+            -0.004643165780066566,
+            0.3199871443835332,
+            -0.37154054842781675,
+            0.18906851485850298,
+            0.17974879694712392,
+            0.5924179102534258,
+            -0.18278035101082263,
+            -0.06076680261571965,
+            -0.40314117605683203,
+            -0.078100924486018,
+            -0.05901574211910647,
+            0.6089121235198113,
+            -0.18399587348880037,
+            -0.00849727426723577,
+            0.0695986479406752,
+            -0.0050030394534392114,
+            0.06020752199987468,
+            -0.5800707696896749,
+            0.32002990799507147,
+            -0.2690923166960991,
+            0.3983545341926393,
+            0.0035581533731591573,
+            0.2489762834057169,
+            -0.9293326904466751,
+            -0.44111537579109333,
+            -0.2765886348631263,
+            0.06538373489505632,
+            0.35649227710871945,
+            0.19603232408888055,
+            0.21595035259118983,
+            0.7061802886601137
         ],
         "q90": [
+            0.06418247465116664,
+            0.22167414682370334,
+            0.7051943603572851,
+            0.334834150848527,
+            0.013433172231948197,
+            0.0006825586013837852,
+            0.3466820656134788,
+            -0.3507540054277049,
+            0.2073305421875816,
+            0.19813284347470805,
+            0.617246961309177,
+            -0.16390136691642826,
+            -0.02807349079194703,
+            -0.37715411695566214,
+            -0.05753126289590888,
+            -0.029004192417267708,
+            0.6371989599154849,
+            -0.15708287480689942,
+            0.012029551706263783,
+            0.1081102820938173,
+            0.028803118396979514,
+            0.07968616470487455,
+            -0.21345098067938403,
+            0.513128510157888,
+            0.11277837971185092,
+            0.7349891452511582,
+            0.10819583090882813,
+            0.7134315717933303,
+            -0.30271294901647916,
+            -0.19792179995832593,
+            -0.059458262994126924,
+            0.19298241376403602,
+            0.7498626707439738,
+            0.4644606662433071,
+            0.6710331563678174,
+            1.1606350054847845
         ],
         "q99": [
+            0.14738805694489007,
+            0.26683222348028734,
+            0.707654963528685,
+            0.3667782310672741,
+            0.021744190499040517,
+            0.006317092459919262,
+            0.3666804459686944,
+            -0.32211007628176996,
+            0.21718706651812308,
+            0.20955442432434274,
+            0.6647029385203856,
+            -0.14901698268073338,
+            0.007303276535816632,
+            -0.32382108129099824,
+            -0.0351533565966713,
+            -0.010014943390143744,
+            0.6777891687847287,
+            -0.14208278007395198,
+            0.03427073066347181,
+            0.13625720545246756,
+            0.05801395199199743,
+            0.10737717350051525,
+            0.17295412255175605,
+            0.7636490949421887,
+            0.36407982868344085,
+            1.0710762515394634,
+            0.2729502489998676,
+            0.9458614921115366,
+            -0.019506061730787436,
+            0.0448527983326826,
+            0.04881416705435715,
+            0.2855735833422826,
+            1.2216900069074002,
+            0.7901353091349904,
+            1.0344755084667843,
+            1.2939111865760804
         ]
     },
     "observation.images.cam_3": {
         "mean": [
             [
                 [
+                    0.353946954828693
                 ]
             ],
             [
                 [
+                    0.36910021686355515
                 ]
             ],
             [
                 [
+                    0.3616163466150333
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.006228794536762935
                 ]
             ],
             [
                 [
+                    0.00749010559039329
                 ]
             ],
             [
                 [
+                    0.009701956668936187
                 ]
             ]
         ],
         "count": [
+            104582304000
         ],
         "q01": [
             [
                 [
+                    -6.243935579590754e-12
                 ]
             ],
             [
                 [
+                    0.011633338904615506
                 ]
             ],
             [
                 [
+                    0.00047230185196816746
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.026889941977654073
                 ]
             ],
             [
                 [
+                    0.053286203092417196
                 ]
             ],
             [
                 [
+                    0.039475481948103464
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.2795034988888301
                 ]
             ],
             [
                 [
+                    0.296954172559131
                 ]
             ],
             [
                 [
+                    0.28568258922749745
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.8292101195102913
                 ]
             ],
             [
                 [
+                    0.8018076922076357
                 ]
             ],
             [
                 [
+                    0.8114739758866373
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.9896715835321045
                 ]
             ],
             [
                 [
+                    0.992157400643668
                 ]
             ],
             [
                 [
+                    0.9814285572868151
                 ]
             ]
         ]
         "mean": [
             [
                 [
+                    0.37151486910758186
                 ]
             ],
             [
                 [
+                    0.3920188475082877
                 ]
             ],
             [
                 [
+                    0.3908591237500891
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.007380373040916756
                 ]
             ],
             [
                 [
+                    0.007441720054448553
                 ]
             ],
             [
                 [
+                    0.009425860020804208
                 ]
             ]
         ],
         "count": [
+            104581920000
         ],
         "q01": [
             [
                 [
+                    -3.023489141166591e-11
                 ]
             ],
             [
                 [
+                    0.01913813720194699
                 ]
             ],
             [
                 [
+                    0.010016983324070576
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.030081768048572124
                 ]
             ],
             [
                 [
+                    0.06667271182409229
                 ]
             ],
             [
                 [
+                    0.06031529679152033
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.30729449203366943
                 ]
             ],
             [
                 [
+                    0.32453061155110396
                 ]
             ],
             [
                 [
+                    0.31896939114699413
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.8487138010461553
                 ]
             ],
             [
                 [
+                    0.8433787638928927
                 ]
             ],
             [
                 [
+                    0.8699189921284837
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.9851222651574606
                 ]
             ],
             [
                 [
+                    0.9921614122842312
                 ]
             ],
             [
                 [
+                    0.9896971498885531
                 ]
             ]
         ]
             35166
         ],
         "mean": [
+            6257.777467108645
         ],
         "std": [
+            4133.013879736981
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            124.68040907291912
         ],
         "q10": [
+            1251.2372945110453
         ],
         "q50": [
+            6257.942135316516
         ],
         "q90": [
+            11264.317639706222
         ],
         "q99": [
+            12390.87452514438
         ]
     },
     "observation.images.cam_1": {
         "mean": [
             [
                 [
+                    0.345972340293928
                 ]
             ],
             [
                 [
+                    0.375964620694173
                 ]
             ],
             [
                 [
+                    0.33918992657812097
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.013007722225627384
                 ]
             ],
             [
                 [
+                    0.01239798954124401
                 ]
             ],
             [
                 [
+                    0.012441430553322403
                 ]
             ]
         ],
         "count": [
+            104582841600
         ],
         "q01": [
             [
                 [
+                    -1.7926208535575954e-11
                 ]
             ],
             [
                 [
+                    0.007561129344920647
                 ]
             ],
             [
                 [
+                    -1.7926208535575954e-11
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.00010306194887164992
                 ]
             ],
             [
                 [
+                    0.031045931628382723
                 ]
             ],
             [
                 [
+                    -1.7926208535575954e-11
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.14888546043473253
                 ]
             ],
             [
                 [
+                    0.18474257815529535
                 ]
             ],
             [
                 [
+                    0.13888364361340214
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.9280321471593013
                 ]
             ],
             [
                 [
+                    0.956377380597187
                 ]
             ],
             [
                 [
+                    0.928670671847023
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.9757974607993044
                 ]
             ],
             [
                 [
+                    0.991686514600826
                 ]
             ],
             [
                 [
+                    0.9705980414089561
                 ]
             ]
         ]
         "mean": [
             [
                 [
+                    0.2082323269884219
                 ]
             ],
             [
                 [
+                    0.21607530197439265
                 ]
             ],
             [
                 [
+                    0.20431078238713993
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.0033895527290888306
                 ]
             ],
             [
                 [
+                    0.0033895614498523664
                 ]
             ],
             [
                 [
+                    0.0033895516567332726
                 ]
             ]
         ],
         "count": [
+            104582860800
         ],
         "q01": [
             [
                 [
+                    0.05474815761991413
                 ]
             ],
             [
                 [
+                    0.06257498647338332
                 ]
             ],
             [
                 [
+                    0.050793175913254864
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.061272572918954125
                 ]
             ],
             [
                 [
+                    0.06910602603506408
                 ]
             ],
             [
                 [
+                    0.05738791726643961
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.12646111519419184
                 ]
             ],
             [
                 [
+                    0.13432545525572334
                 ]
             ],
             [
                 [
+                    0.1225435048872755
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.46636862307599825
                 ]
             ],
             [
                 [
+                    0.47422083695605205
                 ]
             ],
             [
                 [
+                    0.46243638672220255
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.7394327599669599
                 ]
             ],
             [
                 [
+                    0.7472482332468136
                 ]
             ],
             [
                 [
+                    0.7354962315258284
                 ]
             ]
         ]
         "mean": [
             [
                 [
+                    0.1886295652973033
                 ]
             ],
             [
                 [
+                    0.19647245048712506
                 ]
             ],
             [
                 [
+                    0.18470803335955824
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.003842862872363667
                 ]
             ],
             [
                 [
+                    0.003842820684663931
                 ]
             ],
             [
                 [
+                    0.003842869211801201
                 ]
             ]
         ],
         "count": [
+            104582841600
         ],
         "q01": [
             [
                 [
+                    0.05458281374632722
                 ]
             ],
             [
                 [
+                    0.06241142692292693
                 ]
             ],
             [
                 [
+                    0.05061364905828689
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.05917698624218932
                 ]
             ],
             [
                 [
+                    0.06696517809177478
                 ]
             ],
             [
                 [
+                    0.05522111861043642
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.10281914547066154
                 ]
             ],
             [
                 [
+                    0.11065496343997738
                 ]
             ],
             [
                 [
+                    0.09885568812011845
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.44094501368144406
                 ]
             ],
             [
                 [
+                    0.4487961239563905
                 ]
             ],
             [
                 [
+                    0.4370285927473483
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.7574670078937205
                 ]
             ],
             [
                 [
+                    0.7652967808105745
                 ]
             ],
             [
                 [
+                    0.753537477916531
                 ]
             ]
         ]
             1172.2
         ],
         "mean": [
+            208.59258223695542
         ],
         "std": [
+            137.7671293245662
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            4.156013635669234
         ],
         "q10": [
+            41.707909816957574
         ],
         "q50": [
+            208.59679461251068
         ],
         "q90": [
+            375.47725465695174
         ],
         "q99": [
+            413.0291508382408
         ]
     },
     "observation.images.cam_2_ir": {
         "mean": [
             [
                 [
+                    0.19801869512004447
                 ]
             ],
             [
                 [
+                    0.2058617808384775
                 ]
             ],
             [
                 [
+                    0.1940971327419585
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.003768755294816305
                 ]
             ],
             [
                 [
+                    0.0037687430831201065
                 ]
             ],
             [
                 [
+                    0.003768756743064981
                 ]
             ]
         ],
         "count": [
+            104582860800
         ],
         "q01": [
             [
                 [
+                    0.05393197156988833
                 ]
             ],
             [
                 [
+                    0.06177401318104108
                 ]
             ],
             [
                 [
+                    0.04996897021349026
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.05887176690507086
                 ]
             ],
             [
                 [
+                    0.06663065468600414
                 ]
             ],
             [
                 [
+                    0.05487970785757949
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.1172795787228554
                 ]
             ],
             [
                 [
+                    0.12511707628800123
                 ]
             ],
             [
                 [
+                    0.1133865405395288
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.44813779002003057
                 ]
             ],
             [
                 [
+                    0.45599060779349604
                 ]
             ],
             [
                 [
+                    0.4442224394096088
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.7567011400724108
                 ]
             ],
             [
                 [
+                    0.7645341226044806
                 ]
             ],
             [
                 [
+                    0.7527714456453464
                 ]
             ]
         ]
         "mean": [
             [
                 [
+                    0.3487611513478544
                 ]
             ],
             [
                 [
+                    0.3790286683739532
                 ]
             ],
             [
                 [
+                    0.3427036162238044
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.009528387727322625
                 ]
             ],
             [
                 [
+                    0.009028031896579993
                 ]
             ],
             [
                 [
+                    0.008938379493441739
                 ]
             ]
         ],
         "count": [
+            104582784000
         ],
         "q01": [
             [
                 [
+                    -1.954654493217772e-11
                 ]
             ],
             [
                 [
+                    0.008083772888756616
                 ]
             ],
             [
                 [
+                    -1.954654493217772e-11
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    -1.954654493217772e-11
                 ]
             ],
             [
                 [
+                    0.0288047279878398
                 ]
             ],
             [
                 [
+                    -1.954654493217772e-11
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.15582784667754962
                 ]
             ],
             [
                 [
+                    0.19005864957691468
                 ]
             ],
             [
                 [
+                    0.143104360003709
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.9185000369270612
                 ]
             ],
             [
                 [
+                    0.9474405712684505
                 ]
             ],
             [
                 [
+                    0.9206460704463
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.9757073935757343
                 ]
             ],
             [
                 [
+                    0.9917072300164713
                 ]
             ],
             [
                 [
+                    0.9733293657053873
                 ]
             ]
         ]
             2.1786434650421143
         ],
         "mean": [
+            0.3028805876037654,
+            0.12326662343080724,
+            0.139124222326304,
+            0.03989232093893305,
+            0.38684621262047836,
+            -1.0537107454852284,
+            0.30164107887213004,
+            -0.1407496941869034,
+            0.12391035473014059,
+            0.09156339705215089,
+            0.2192658146079365,
+            0.8114299111447757
         ],
         "std": [
+            0.03756215726790562,
+            0.04843719836422234,
+            0.05938701269519946,
+            0.24771318697940417,
+            0.32131027632754133,
+            0.4239713684312511,
+            0.038346309787582925,
+            0.03692026336719361,
+            0.04595831290632454,
+            0.20403578527253477,
+            0.2016273313783962,
+            0.39727137980830707
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            0.1740543409954444,
+            0.04322278526100808,
+            0.027392478915414298,
+            -0.6628124040774527,
+            -0.4378778950724377,
+            -1.6151361560557465,
+            0.19074959319121823,
+            -0.24307358851196226,
+            0.01050498132434962,
+            -0.4745792971463006,
+            -0.2881233727344334,
+            -0.03458050216690252
         ],
         "q10": [
+            0.2608148182417582,
+            0.0699778749532476,
+            0.10291325232768932,
+            -0.2521933861556709,
+            -0.12615001278879767,
+            -1.4866424352685212,
+            0.26333421340524243,
+            -0.1794876351181484,
+            0.0905254548480811,
+            -0.0596105464785864,
+            0.012788427133800755,
+            0.2973651198778025
         ],
         "q50": [
+            0.307646647128614,
+            0.11997967757310767,
+            0.1165200977865431,
+            0.06568353689646121,
+            0.5201103986913471,
+            -1.1401485104352376,
+            0.30063101783863927,
+            -0.13993853163011,
+            0.11486708295871477,
+            0.07469037898622717,
+            0.22666588829088521,
+            0.8348451590845444
         ],
         "q90": [
+            0.33891576618502695,
+            0.17742669140825237,
+            0.23739446049811203,
+            0.21838774012976883,
+            0.6459663399502933,
+            -0.39064894203500383,
+            0.3447642015332951,
+            -0.10088864302343024,
+            0.17999469204385563,
+            0.2912286916171526,
+            0.37391734509997593,
+            1.2983114385751136
         ],
         "q99": [
+            0.36506928051760024,
+            0.2814279386772555,
+            0.3129788890391921,
+            0.812531141069062,
+            0.9203800732290838,
+            0.10244516653043728,
+            0.3837646181783657,
+            -0.0679362733861199,
+            0.2350201874939872,
+            0.7017975271601957,
+            0.9299259919069658,
+            1.5010601723217596
         ]
     },
     "task_index": {
             7
         ],
         "mean": [
+            2.8321009784425404
         ],
         "std": [
+            1.5537702364491992
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            0.0009627274371078577
         ],
         "q10": [
+            0.46731355370634514
         ],
         "q50": [
+            2.8910597672007152
         ],
         "q90": [
+            4.7180054707873085
         ],
         "q99": [
+            6.066657031879894
         ]
     },
     "observation.state.hand_state": {
             4.612534523010254
         ],
         "mean": [
+            1.2838875628048634,
+            3.1498443465907435
         ],
         "std": [
+            1.4950247051645096,
+            0.8486312046425882
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            0.12746338974674834,
+            1.4442192260060007
         ],
         "q10": [
+            0.19999905072668928,
+            2.2265882393865435
         ],
         "q50": [
+            0.3218462442550656,
+            3.069965759878731
         ],
         "q90": [
+            3.9513004002439334,
+            4.279554420721012
         ],
         "q99": [
+            4.498659172816561,
+            4.50682598205548
         ]
     },
     "action.hand_cmd": {
             4.5
         ],
         "mean": [
+            1.1364123195935167,
+            3.0006257112346537
         ],
         "std": [
+            1.5653434484351885,
+            0.9721669818594645
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            0.0005796296163325509,
+            1.2427433404678903
         ],
         "q10": [
+            0.0005796296163325509,
+            1.8791417961811527
         ],
         "q50": [
+            0.134672007934118,
+            2.943264176808321
         ],
         "q90": [
+            3.949067541144284,
+            4.278375427692997
         ],
         "q99": [
+            4.498264208257446,
+            4.499724161492873
         ]
     },
     "index": {
             0
         ],
         "max": [
+            5447023
         ],
         "mean": [
+            2723511.5
         ],
         "std": [
+            1572420.3863411478
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            2717378.402941966
         ],
         "q10": [
+            2718504.959827403
         ],
         "q50": [
+            2723511.6926576653
         ],
         "q90": [
+            2728518.103361998
         ],
         "q99": [
+            2729644.602833633
         ]
     },
     "action.robot_q_desired": {
             -3.833470106124878,
             0.0,
             -0.62253338098526,
+            -0.07766781747341156,
+            -0.07864603400230408,
             -0.9999988675117493,
             -0.8303020596504211,
             -0.06803855299949646,
             -0.27163684368133545,
             -0.10674852877855301,
             -1.6070531606674194,
+            -0.5163833498954773,
             -0.9358727335929871,
             -1.0471998453140259,
             -1.9461331367492676,
             1.6144291162490845
         ],
         "mean": [
+            0.008749711133767653,
+            0.17141057282483502,
+            0.7026192307112937,
+            0.28443799656597,
+            0.005896199508163498,
+            -0.004861979913905046,
+            0.31959518856878255,
+            -0.35833132728619316,
+            0.22584885463147092,
+            0.16174381289357967,
+            0.5234631076265589,
+            -0.39260164363284966,
+            -0.028981552990768607,
+            -0.35601085302244645,
+            -0.140773601931397,
+            -0.018150478143090093,
+            0.5364465363708826,
+            -0.3956303855964678,
+            -0.19449002408878374,
+            0.06893993729182975,
+            -0.006647547085357038,
+            -0.0007723288716752543,
+            -0.5469197655456222,
+            0.2998758276701946,
+            -0.20137966130994361,
+            0.3335501299893987,
+            -0.09836299769549572,
+            0.29196426991252417,
+            -0.8718577785722365,
+            -0.43745954044702917,
+            -0.2673072032992172,
+            0.06999052126783854,
+            0.348477084840679,
+            0.23005169940279502,
+            0.2890073224531952,
+            0.7056442608727881
         ],
         "std": [
+            0.8886947524266697,
+            0.705477860668341,
+            0.002677062646843706,
+            0.435133401606051,
+            0.01717641083026247,
+            0.010975898698591991,
+            0.791925784669224,
+            0.019599430973980193,
+            0.018201781200655444,
+            0.02852597047070609,
+            0.028428416253791576,
+            0.13475855479342067,
+            0.07283661753091358,
+            0.023356518315239376,
+            0.023104147941165134,
+            0.029657320354831575,
+            0.03338501962203989,
+            0.17514885345309789,
+            0.06956541180148608,
+            0.04262805266898794,
+            0.03932290479201163,
+            0.027184896725330733,
+            0.24490449447350762,
+            0.1866632034948301,
+            0.2052183805987662,
+            0.37991665369668826,
+            0.26592317035336904,
+            0.2844926201445672,
+            0.3735931834549514,
+            0.2143123885628769,
+            0.1772437400065437,
+            0.1350205185480389,
+            0.3865900306881841,
+            0.18667723852906526,
+            0.27747101088265913,
+            0.36365870880648526
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            -0.09088154544489206,
+            0.06326572488353047,
+            0.6965578110015321,
+            0.19824480290266272,
+            -0.01091206194877357,
+            -0.019281258085531508,
+            0.27198967470336055,
+            -0.3991236061391181,
+            0.1686066767299015,
+            0.05106892571106135,
+            0.46983989609243476,
+            -0.8047126056823672,
+            -0.15522816697769315,
+            -0.40508057347692444,
+            -0.19336831339905414,
+            -0.09534072568289388,
+            0.4572466149656602,
+            -0.8413932046461383,
+            -0.3129865832802575,
+            -0.007891219454197086,
+            -0.06943736549729543,
+            -0.0278222084089959,
+            -0.9658348207767484,
+            -0.0806073945099236,
+            -0.4672930106058972,
+            -0.46195205366260206,
+            -0.8744524880851813,
+            -0.2336513047470873,
+            -1.3950742122486106,
+            -1.0147859336066125,
+            -0.6582519604415308,
+            -0.3695905025325204,
+            -0.33151160953179204,
+            -0.11994965721296783,
+            -0.21181222501685087,
+            0.0018859129246278255
         ],
         "q10": [
+            -0.04708867015313579,
+            0.11880130104500998,
+            0.6998706917450751,
+            0.23395179666154503,
+            -0.0017801480760138851,
+            -0.01044902598584738,
+            0.2915575972721685,
+            -0.37273182434230917,
+            0.21283677632167472,
+            0.140476003958011,
+            0.49966579016094553,
+            -0.5430508232820573,
+            -0.1020265557076272,
+            -0.37672485790806937,
+            -0.16114751815150274,
+            -0.044861917913085345,
+            0.5005833898068013,
+            -0.6121330647072221,
+            -0.26733256422996915,
+            0.03166471427535104,
+            -0.0371139075968459,
+            -0.01715305513111007,
+            -0.7918811538388714,
+            0.07402730266128406,
+            -0.38920918016021827,
+            -0.16095525624054807,
+            -0.5511700394822397,
+            0.002831116690600472,
+            -1.2909225816189502,
+            -0.6506062029711682,
+            -0.46856374478846274,
+            -0.0798819130194633,
+            -0.11091695203781625,
+            0.07106128844319186,
+            0.03353909354912147,
+            0.23721232187084845
         ],
         "q50": [
+            0.006070299326158615,
+            0.17433240873176573,
+            0.7027666617110195,
+            0.2850429353418989,
+            0.006033617038848054,
+            -0.004643165780066566,
+            0.3199871443835332,
+            -0.3592033259324612,
+            0.2265550400014544,
+            0.16705926060162352,
+            0.5216770504835495,
+            -0.37745824990808347,
+            -0.033326559373810204,
+            -0.3562195534999919,
+            -0.14043582899438187,
+            -0.017331546464536628,
+            0.5369830628056873,
+            -0.38294067338822696,
+            -0.20365870936263447,
+            0.06960024949455987,
+            -0.006480956641101284,
+            -0.003056835131161876,
+            -0.5833379685491565,
+            0.3099290251398985,
+            -0.2740544950922588,
+            0.3867038168807808,
+            -0.005601478034201486,
+            0.24234448258072597,
+            -0.9307510919785097,
+            -0.4377020531679056,
+            -0.27693242238150195,
+            0.08225572012602489,
+            0.3581883514031156,
+            0.19316573115336674,
+            0.2304729250549584,
+            0.7109042491037533
         ],
         "q90": [
+            0.06418247465116664,
+            0.22167414682370334,
+            0.7051943603572851,
+            0.334834150848527,
+            0.013433172231948197,
+            0.0006825586013837852,
+            0.3466820656134788,
+            -0.3449495533167844,
+            0.23926209553621913,
+            0.18156314240774635,
+            0.5466760140762243,
+            -0.2654116496579433,
+            0.0437609279258469,
+            -0.3375664470317645,
+            -0.12023326363399957,
+            0.008294786350445834,
+            0.5682141004180488,
+            -0.2059105586835938,
+            -0.10857043618972333,
+            0.10667466059061564,
+            0.023746436664510078,
+            0.01780751866633054,
+            -0.21654919891704927,
+            0.511847669005213,
+            0.10826412996484507,
+            0.7317526717574683,
+            0.10390581555126382,
+            0.7136402564449554,
+            -0.3017160106845952,
+            -0.1969870595949817,
+            -0.03466659822812911,
+            0.21203111731543453,
+            0.7735121142169311,
+            0.4630175303156589,
+            0.6711401827084821,
+            1.173086632752904
         ],
         "q99": [
+            0.14738805694489007,
+            0.26683222348028734,
+            0.707654963528685,
+            0.3667782310672741,
+            0.021744190499040517,
+            0.006317092459919262,
+            0.3666804459686944,
+            -0.29746854807667766,
+            0.2614246755294354,
+            0.19016256237800183,
+            0.614020222054405,
+            -0.12159980900742288,
+            0.1621471446053369,
+            -0.2857961670840837,
+            -0.08925101291272154,
+            0.03792244485917925,
+            0.6311149033997893,
+            -0.014403453030594761,
+            0.0020958886188984283,
+            0.13401748249806253,
+            0.05349476809801169,
+            0.05339990897130636,
+            0.17234240556534414,
+            0.765806552339389,
+            0.3616422635650928,
+            1.0786106654185286,
+            0.2695951844577993,
+            0.9493047643814736,
+            -0.018955423522873042,
+            0.043441914378479815,
+            0.07975733314958776,
+            0.31198226093620557,
+            1.2368246919315946,
+            0.792757090787861,
+            1.0392173536723635,
+            1.312811628145477
         ]
     },
     "episode_index": {
             0
         ],
         "max": [
+            458
         ],
         "mean": [
+            223.012022161092
         ],
         "std": [
+            136.19022917478748
         ],
         "count": [
+            5447024
         ],
         "q01": [
+            223.012022161092
         ],
         "q10": [
+            223.012022161092
         ],
         "q50": [
+            223.012022161092
         ],
         "q90": [
+            223.012022161092
         ],
         "q99": [
+            223.012022161092
         ]
     },
     "observation.images.cam_3_ir": {
         "mean": [
             [
                 [
+                    0.2000654077608667
                 ]
             ],
             [
                 [
+                    0.2079084919698385
                 ]
             ],
             [
                 [
+                    0.19614384438119273
                 ]
             ]
         ],
         "std": [
             [
                 [
+                    0.007091642495432122
                 ]
             ],
             [
                 [
+                    0.007091628111493976
                 ]
             ],
             [
                 [
+                    0.00709164377293466
                 ]
             ]
         ],
         "count": [
+            104582841600
         ],
         "q01": [
             [
                 [
+                    0.05222291403253442
                 ]
             ],
             [
                 [
+                    0.060081928411319895
                 ]
             ],
             [
                 [
+                    0.04830276079324354
                 ]
             ]
         ],
         "q10": [
             [
                 [
+                    0.05858837520463082
                 ]
             ],
             [
                 [
+                    0.06635638009379564
                 ]
             ],
             [
                 [
+                    0.0546109562232405
                 ]
             ]
         ],
         "q50": [
             [
                 [
+                    0.11235706956330192
                 ]
             ],
             [
                 [
+                    0.12018778439621453
                 ]
             ],
             [
                 [
+                    0.10843100476050498
                 ]
             ]
         ],
         "q90": [
             [
                 [
+                    0.4725855324135062
                 ]
             ],
             [
                 [
+                    0.4804267091176559
                 ]
             ],
             [
                 [
+                    0.4686543770343946
                 ]
             ]
         ],
         "q99": [
             [
                 [
+                    0.8046536977282001
                 ]
             ],
             [
                 [
+                    0.8125033294123173
                 ]
             ],
             [
                 [
+                    0.8007233458077162
                 ]
             ]
         ]

videos/observation.images.cam_0/chunk-000/file-212.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:4b21f2020734a69d8d564ba1ca94c16820c1b8f860a964ca57133736b7cd3942
+size 143600991

videos/observation.images.cam_0/chunk-000/file-213.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:9179f38bce5689ca8bebcb01761646445d4847b1282f92620761076d5dddc138
+size 145057932

videos/observation.images.cam_0/chunk-000/file-214.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:378d4ca5d562597df6c025edce1e35cb5b18e5009f787eb84857a649c5b8fc98
+size 151763942

videos/observation.images.cam_0/chunk-000/file-215.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:e43dc7a56484b0f1a54fd5c4760d3419d224a8ce9a7d2f69d44020f81a57af4b
+size 195804138

videos/observation.images.cam_0/chunk-000/file-216.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:26c2aed1860fa3f790b31ecdc7d390ef62053424f38d2db9937414ebd3952c64
+size 149332005

videos/observation.images.cam_0/chunk-000/file-217.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:15daaa6ddae74d0d60c8fffb7263b92f46d0bf40909813b5669b6a3c5e9eadef
+size 148412296

videos/observation.images.cam_0/chunk-000/file-218.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ebcb6ba8f9ed48b03d3cf506ef8bf0c58a938f6bddb468842bafe52f13853ac9
+size 157003834

videos/observation.images.cam_0/chunk-000/file-219.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d88a3bf07d3ecf87ef8d438703bf8aa85f61d7d72b75649122064d96801e8b
+size 176266851

videos/observation.images.cam_0/chunk-000/file-220.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d7cd1cd9f14c92bd219a688fe5bdb97f68436c05213a16f250365430a612ae85
+size 186396921

videos/observation.images.cam_0_ir/chunk-000/file-070.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:bb75e238b3ec4317302e6d7a32238d32b3927d7ce8901cd0633503d6cb45fe9e
+size 190463899

videos/observation.images.cam_0_ir/chunk-000/file-071.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:73fbc6175b7ff0329c1ba83bc233bb8afedc8b88b4a89ae5340cb66717dea61e
+size 193433307

videos/observation.images.cam_0_ir/chunk-000/file-072.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:00d51bb899c2e0f207678f0fae095a7e250886a6facd775cd4e7bbe38ffd7fb4
+size 169138133

videos/observation.images.cam_1/chunk-000/file-205.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:8788123f44208479f888f8d3dc84d227979adfc8697b504283e68d82077a097b
+size 143603252

videos/observation.images.cam_1/chunk-000/file-206.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:30a39f52c3b93503e18c3160ceba242671979bc1e0aba783c1fd96b50313cac4
+size 144278107

videos/observation.images.cam_1/chunk-000/file-207.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:96c6e32771ff93b1bd8f89932fc98ae28e84024bf6bd0fb831c6b240035eea56
+size 151140824

videos/observation.images.cam_1/chunk-000/file-208.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d7dac1f402d16b1573ba601f80d5cfb6497158a17b0c2fabfe024db8715d3fce
+size 193070972

videos/observation.images.cam_1/chunk-000/file-209.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:697d06cd956ea139840da25f2ce24822a1845758fc87511c13de566560d9149c
+size 147833127

videos/observation.images.cam_1/chunk-000/file-210.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:2887c6b645fe512a171564201c1825a9376ec59d20441f8bbd252d5ea1e63546
+size 147705880

videos/observation.images.cam_1/chunk-000/file-211.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:734914878e3dd9875fbf678cfacd3828aa10cb1cb9b20d9f919c0844f6eeee65
+size 154338303

videos/observation.images.cam_1/chunk-000/file-212.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ec20f666577bc963835f5fd629317348a412a710887db4cc74ba9ba4b3a089ee
+size 174565600

videos/observation.images.cam_1/chunk-000/file-213.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d318f20d52d8a2e425d49850b3044531c7a168541137c22d51c83ca5025387fc
+size 183858897

videos/observation.images.cam_1_ir/chunk-000/file-070.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a9f32f30b4f1e1c8f39d5ec124240b7844696d3e956caef915e71e3e678aa1
+size 194669804

videos/observation.images.cam_1_ir/chunk-000/file-071.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:dea71aa05e98f0dd52449303fa66fa290a5b9ba64a6035645a6738fdc5c5f21a
+size 197535118

videos/observation.images.cam_1_ir/chunk-000/file-072.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e8e586e0a8eb169ac7425f6e8ac091bd5ec2560553486dcea6dc5430d585bf
+size 172422705

videos/observation.images.cam_2/chunk-000/file-178.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:1386a482c1660c00c1ff42128cc83b04e0601c02c241bbfa8282699a2521b335
+size 193751778

videos/observation.images.cam_2/chunk-000/file-179.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:88bd88574a688312b09cc53526dfb8e083884fd9d95be244145d794387c82ba2
+size 133473174

videos/observation.images.cam_2/chunk-000/file-180.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:78f3a5ca6afff5b82738f0c34b01c53d566dfd3a04641823ec3fb83058c67d78
+size 194800412

videos/observation.images.cam_2/chunk-000/file-181.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:f568c78c4e98a2b8bae83c1a848a7cc19142f724c515f983eebca7734224f7bf
+size 206584663

videos/observation.images.cam_2/chunk-000/file-182.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:02633c69cec62f747806095ff97ca9cfcc47bf33a4ac1c39ce3527d59451ed01
+size 194038121

videos/observation.images.cam_2/chunk-000/file-183.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:7b117b1a57f6e22974c1455bcaaca430a30b58bc0f3c3d84ac4b764db99e6ca0
+size 150198542

videos/observation.images.cam_2/chunk-000/file-184.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:afbbf42394f09286a94da614db08a52780e19f8e131bd96d1588740e42defa09
+size 198932993

videos/observation.images.cam_2/chunk-000/file-185.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ca817c92b27651e305f4b45ee1cccbea1a2a63645f681ba8498e4c2b90cab48a
+size 54577128

videos/observation.images.cam_2_ir/chunk-000/file-070.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:2dbd7175cfaab223148280b8b9b40e8b77a75b863c595663bf76b435bdb542e8
+size 208891392

videos/observation.images.cam_2_ir/chunk-000/file-071.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ec60ec207a4a7e2e3e25a98daa1ba29aafb2caf676aa942002106b3fcf96c614
+size 196163419

videos/observation.images.cam_2_ir/chunk-000/file-072.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ac73b6cea41910f32769cf97103b37a013c9a9a344c75774f16a31d9b7d52a12
+size 133265756

videos/observation.images.cam_3/chunk-000/file-161.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:423e3872921a82ec6b271ba14b9d68526aa97727224a409276e1eff084e50cf7
+size 171886161

videos/observation.images.cam_3/chunk-000/file-162.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:5b4c8d97138b7bf11b69daef03b26a8fdbe99fcfa5d27f08ebf4cd99fdca87b6
+size 188408051

videos/observation.images.cam_3/chunk-000/file-163.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:88c6cc5d129f1479462f9f74af1a6f2c35ed15b35e7874ff64faa7a91f866547
+size 168923275

videos/observation.images.cam_3/chunk-000/file-164.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:98c4e5b8716e363940014f29f1643fa460626a992ce9eb37a78e81cc898a3dbc
+size 182152277

videos/observation.images.cam_3/chunk-000/file-165.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:23f88e103dddebb8a4f05475e131b002188e0d1cc3968df55aba148e679b2b8c
+size 195756122

videos/observation.images.cam_3/chunk-000/file-166.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:cf921f46c4ca7c7717dcdd226c3ceea6fdd88423a3e8bb862d0226813496592a
+size 191254209

videos/observation.images.cam_3/chunk-000/file-167.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e259b9f3fa5845252b381f94505b02a805753acc9af19f387940c74f6cf767
+size 104015479

videos/observation.images.cam_3_ir/chunk-000/file-069.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:73e91e68f33b6e6488e1a5518f4dbbbe2ce925c1b5df9d0d6c334cef812bdc95
+size 199229529

videos/observation.images.cam_3_ir/chunk-000/file-070.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:48277a211baf454e083c2c522d474d4c990432d5f1f96b0e1f5ae85a622c256b
+size 185354588

videos/observation.images.cam_3_ir/chunk-000/file-071.mp4 ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c77e73089f829baf9c12263053c4168ecaa2bd732bfafbbabefcfc6f822cb9
+size 125864757