Upload LeRobot v3 dataset from lerobot_v3_robotiq_tests2_1786379248 (4/11)

meta/stats.json

@@ -1,496 +1,382 @@
 {
-    "observation.state": {
+    "observation.images.workspace_front": {
         "min": [
-            -1.7366174459457397,
-            -1.8239227533340454,
-            -1.875136375427246,
-            -1.001084327697754,
-            1.5530426502227783,
-            -3.3181421756744385
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
         ],
         "max": [
-            -1.7366174459457397,
-            -1.8239227533340454,
-            -1.875136375427246,
-            -1.001084327697754,
-            1.5530426502227783,
-            -3.3181421756744385
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
         ],
         "mean": [
-            -1.7366764545440674,
-            -1.8238625526428223,
-            -1.8751029968261719,
-            -1.0010395050048828,
-            1.553088665008545,
-            -3.3182833194732666
+            [
+                [
+                    0.439198595966411
+                ]
+            ],
+            [
+                [
+                    0.422264178453542
+                ]
+            ],
+            [
+                [
+                    0.3862731733718104
+                ]
+            ]
         ],
         "std": [
-            0.0,
-            0.01921745017170906,
-            0.01732538640499115,
-            0.01064184308052063,
-            0.0,
-            0.0
+            [
+                [
+                    0.28355615517284954
+                ]
+            ],
+            [
+                [
+                    0.27524810015033324
+                ]
+            ],
+            [
+                [
+                    0.28022084287975635
+                ]
+            ]
         ],
         "count": [
-            3903
+            849
         ],
         "q01": [
-            -1.7366174459457393,
-            -1.823922753334045,
-            -1.8751363754272456,
-            -1.0010843276977535,
-            1.5530426502227788,
-            -3.318142175674438
+            [
+                [
+                    -3.92156862745098e-13
+                ]
+            ],
+            [
+                [
+                    0.013756500116946211
+                ]
+            ],
+            [
+                [
+                    -3.92156862745098e-13
+                ]
+            ]
         ],
         "q10": [
-            -1.7366174459457357,
-            -1.8239227533340414,
-            -1.875136375427242,
-            -1.00108432769775,
-            1.5530426502227823,
-            -3.3181421756744345
+            [
+                [
+                    0.011899993839851866
+                ]
+            ],
+            [
+                [
+                    0.03930567183222523
+                ]
+            ],
+            [
+                [
+                    0.017695073299620747
+                ]
+            ]
         ],
         "q50": [
-            -1.7366174459457198,
-            -1.8239227533340254,
-            -1.875136375427226,
-            -1.001084327697734,
-            1.5530426502227983,
-            -3.3181421756744185
+            [
+                [
+                    0.47458614576688485
+                ]
+            ],
+            [
+                [
+                    0.4395096166994475
+                ]
+            ],
+            [
+                [
+                    0.38274734927677506
+                ]
+            ]
         ],
         "q90": [
-            -1.7366174459457038,
-            -1.8239227533340094,
-            -1.8751363754272101,
-            -1.001084327697718,
-            1.5530426502228143,
-            -3.3181421756744025
+            [
+                [
+                    0.7957669005121503
+                ]
+            ],
+            [
+                [
+                    0.7878791684784422
+                ]
+            ],
+            [
+                [
+                    0.7821217577726405
+                ]
+            ]
         ],
         "q99": [
-            -1.7366174459457002,
-            -1.8239227533340059,
-            -1.8751363754272066,
-            -1.0010843276977144,
-            1.5530426502228178,
-            -3.318142175674399
+            [
+                [
+                    0.8740184188988169
+                ]
+            ],
+            [
+                [
+                    0.8701009994448695
+                ]
+            ],
+            [
+                [
+                    0.8838063400561019
+                ]
+            ]
         ]
     },
     "observation.ee_pose": {
         "min": [
-            -0.29950982332229614,
-            -0.7195640802383423,
-            0.3574943244457245,
-            3.13187313079834,
-            0.012958593666553497,
-            -0.033543869853019714
+            -0.3948182761669159,
+            -0.8916754126548767,
+            -0.06945659220218658,
+            -1.9109601974487305,
+            2.4324450492858887,
+            0.06237887591123581
         ],
         "max": [
-            -0.29950982332229614,
-            -0.7195640802383423,
-            0.3574943244457245,
-            3.13187313079834,
-            0.012958593666553497,
-            -0.033543869853019714
+            -0.39466366171836853,
+            -0.8915227651596069,
+            -0.06927070021629333,
+            -1.9105849266052246,
+            2.4327874183654785,
+            0.06280429661273956
         ],
         "mean": [
-            -0.29950976371765137,
-            -0.7195536494255066,
-            0.35750144720077515,
-            3.1318399906158447,
-            0.012958530336618423,
-            -0.03354478254914284
+            -0.3947356571800459,
+            -0.8916015028953552,
+            -0.06934957573531379,
+            -1.9107484498494107,
+            2.432614287300289,
+            0.06255914500574924
         ],
         "std": [
+            0.0014185989602117834,
             0.0,
-            0.005955229979008436,
-            0.0,
-            0.013174548745155334,
-            3.0036955649848096e-05,
-            0.0
+            1.3812953548989386e-05,
+            0.010978857365178769,
+            0.007031330061302179,
+            0.0004182195354571677
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            -0.29950982332229575,
-            -0.7195640802383418,
-            0.3574943244457249,
-            3.1318731307983403,
-            0.012958593666553898,
-            -0.03354386985301931
+            -0.39476107850323844,
+            -0.8916254569430622,
+            -0.06938457017487752,
+            -1.9108333730363078,
+            2.4325337127350988,
+            0.06249223060195051
         ],
         "q10": [
-            -0.29950982332229215,
-            -0.7195640802383383,
-            0.3574943244457285,
-            3.131873130798344,
-            0.012958593666557498,
-            -0.03354386985301572
+            -0.3947495455280221,
+            -0.8916142395567023,
+            -0.06936866611800219,
+            -1.9108049154989786,
+            2.4325615322411327,
+            0.06252107215510826
         ],
         "q50": [
-            -0.29950982332227616,
-            -0.7195640802383223,
-            0.35749432444574447,
-            3.13187313079836,
-            0.012958593666573497,
-            -0.033543869852999716
+            -0.3947324485595694,
+            -0.8916018900571514,
+            -0.06934960756284782,
+            -1.910772985143169,
+            2.4325934574710066,
+            0.06256043224339074
         ],
         "q90": [
-            -0.2995098233222601,
-            -0.7195640802383063,
-            0.3574943244457605,
-            3.131873130798376,
-            0.012958593666589496,
-            -0.033543869852983715
+            -0.39471746090754667,
+            -0.8915890730718441,
+            -0.06932939934646366,
+            -1.910739707290529,
+            2.432626207016091,
+            0.06259920140273398
         ],
         "q99": [
-            -0.2995098233222565,
-            -0.7195640802383028,
-            0.3574943244457641,
-            3.1318731307983794,
-            0.012958593666593096,
-            -0.033543869852980114
+            -0.39470695037553066,
+            -0.8915789161107883,
+            -0.06931421459634705,
+            -1.9107107036623792,
+            2.432652590764314,
+            0.06262994237033928
         ]
     },
-    "observation.ee_force_torque": {
+    "action.ee_pose_delta": {
         "min": [
-            -0.34233173727989197,
-            0.01617446355521679,
-            -20.71225357055664,
-            0.16983693838119507,
-            -0.27622532844543457,
-            0.25262415409088135
+            -0.00011511523189255968,
+            -0.00011079742398578674,
+            -0.0001723012828733772,
+            -0.0002858259540516883,
+            -0.00021315962658263743,
+            -0.0003039528673980385
         ],
         "max": [
-            -0.34233173727989197,
-            0.01617446355521679,
-            -20.71225357055664,
-            0.16983693838119507,
-            -0.27622532844543457,
-            0.25262415409088135
+            0.00012027480261167511,
+            9.223328379448503e-05,
+            0.0001635438675293699,
+            0.00024581648176535964,
+            0.0002699130855035037,
+            0.00028559163911268115
         ],
         "mean": [
-            -0.3423290252685547,
-            0.016174327582120895,
-            -20.711572647094727,
-            0.16983868181705475,
-            -0.2762335538864136,
-            0.2526244819164276
+            -8.023131416059937e-09,
+            -5.0525769942454615e-09,
+            9.566316145427584e-09,
+            2.2244515963180534e-09,
+            2.0508760739398818e-08,
+            -1.2156057733010942e-08
         ],
         "std": [
-            0.0,
-            0.0,
-            0.17504185438156128,
-            0.0,
-            0.0,
-            0.0
+            2.3734679667682236e-05,
+            1.997261264248988e-05,
+            3.031935619533601e-05,
+            5.250703438054707e-05,
+            5.0128998590183096e-05,
+            6.0752331388567057e-05
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            -0.3423317372798916,
-            0.016174463555217188,
-            -20.71225357055664,
-            0.16983693838119546,
-            -0.2762253284454342,
-            0.25262415409088174
+            -3.8827462023109176e-05,
+            -3.0657245963123026e-05,
+            -4.996560195545698e-05,
+            -8.457872566818581e-05,
+            -7.978260330191158e-05,
+            -9.804401969183102e-05
         ],
         "q10": [
-            -0.34233173727988797,
-            0.01617446355522079,
-            -20.712253570556637,
-            0.16983693838119907,
-            -0.2762253284454306,
-            0.25262415409088534
+            -2.138606972098187e-05,
+            -1.8020773836479857e-05,
+            -2.6780331607839032e-05,
+            -4.716437933070499e-05,
+            -4.543486935946147e-05,
+            -5.632084291009563e-05
         ],
         "q50": [
-            -0.342331737279872,
-            0.016174463555236787,
-            -20.71225357055662,
-            0.16983693838121505,
-            -0.2762253284454146,
-            0.25262415409090133
+            -2.3826477460431184e-07,
+            -2.9385613377418246e-07,
+            -1.0627452616908628e-07,
+            -6.017619596765392e-08,
+            2.018123553906566e-07,
+            1.0219595231964394e-06
         ],
         "q90": [
-            -0.34233173727985594,
-            0.016174463555252788,
-            -20.712253570556605,
-            0.16983693838123107,
-            -0.27622532844539854,
-            0.2526241540909174
+            2.180870139775352e-05,
+            1.8742436171376707e-05,
+            2.785066974767311e-05,
+            4.77825026876761e-05,
+            4.475209660619177e-05,
+            5.446521741890062e-05
         ],
         "q99": [
-            -0.34233173727985233,
-            0.01617446355525639,
-            -20.7122535705566,
-            0.16983693838123468,
-            -0.27622532844539494,
-            0.252624154090921
+            3.863119051836194e-05,
+            3.369549413311529e-05,
+            4.913160235418342e-05,
+            8.59274125338965e-05,
+            8.48353701014994e-05,
+            9.923003893995453e-05
         ]
     },
-    "action": {
-        "min": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0117647061124444
-        ],
-        "max": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.3176470696926117
-        ],
-        "mean": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.1757870465517044
-        ],
-        "std": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.1424136608839035
-        ],
-        "count": [
-            3903
-        ],
-        "q01": [
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            0.011764706012444401
-        ],
-        "q10": [
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            0.011764706012444401
-        ],
-        "q50": [
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            0.282368685264677
-        ],
-        "q90": [
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            0.3137191259757958
-        ],
-        "q99": [
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            0.3176378508052307
-        ]
-    },
-    "action.ee_pose_next": {
+    "task_index": {
         "min": [
-            -0.29950982332229614,
-            -0.7195640802383423,
-            0.3574943244457245,
-            3.13187313079834,
-            0.012958593666553497,
-            -0.033543869853019714
+            0.0
         ],
         "max": [
-            -0.29950982332229614,
-            -0.7195640802383423,
-            0.3574943244457245,
-            3.13187313079834,
-            0.012958593666553497,
-            -0.033543869853019714
+            1.0
         ],
         "mean": [
-            -0.29950976371765137,
-            -0.7195536494255066,
-            0.35750144720077515,
-            3.1318399906158447,
-            0.012958530336618423,
-            -0.03354478254914284
+            0.49608763693270735
         ],
         "std": [
-            0.0,
-            0.005955229979008436,
-            0.0,
-            0.013174548745155334,
-            3.0036955649848096e-05,
-            0.0
+            0.4999846931809309
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            -0.29950982332229575,
-            -0.7195640802383418,
-            0.3574943244457249,
-            3.1318731307983403,
-            0.012958593666553898,
-            -0.03354386985301931
+            0.4960876369327078
         ],
         "q10": [
-            -0.29950982332229215,
-            -0.7195640802383383,
-            0.3574943244457285,
-            3.131873130798344,
-            0.012958593666557498,
-            -0.03354386985301572
+            0.49608763693271135
         ],
         "q50": [
-            -0.29950982332227616,
-            -0.7195640802383223,
-            0.35749432444574447,
-            3.13187313079836,
-            0.012958593666573497,
-            -0.033543869852999716
+            0.49608763693272734
         ],
         "q90": [
-            -0.2995098233222601,
-            -0.7195640802383063,
-            0.3574943244457605,
-            3.131873130798376,
-            0.012958593666589496,
-            -0.033543869852983715
+            0.4960876369327434
         ],
         "q99": [
-            -0.2995098233222565,
-            -0.7195640802383028,
-            0.3574943244457641,
-            3.1318731307983794,
-            0.012958593666593096,
-            -0.033543869852980114
+            0.49608763693274693
         ]
     },
-    "action.ee_pose_delta": {
+    "observation.gripper_fault": {
         "min": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
             0.0
         ],
         "max": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
             0.0
         ],
         "mean": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
             0.0
         ],
         "std": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0,
             0.0
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
-            3.9999999999994176e-16,
             3.9999999999994176e-16
         ],
         "q10": [
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
-            3.999999999999417e-15,
             3.999999999999417e-15
         ],
         "q50": [
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14,
-            1.9999999999997088e-14
+            1.999999999999709e-14
         ],
         "q90": [
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
-            3.599999999999476e-14,
             3.599999999999476e-14
         ],
         "q99": [
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
-            3.9599999999994235e-14,
             3.9599999999994235e-14
         ]
     },
-    "observation.images.workspace_front": {
+    "observation.images.workspace_side_depth": {
         "min": [
-            [
-                [
-                    0.0
-                ]
-            ],
-            [
-                [
-                    0.0
-                ]
-            ],
             [
                 [
                     0.0
@@ -500,141 +386,189 @@
         "max": [
             [
                 [
-                    0.7921568751335144
-                ]
-            ],
-            [
-                [
-                    0.8196078538894653
-                ]
-            ],
-            [
-                [
-                    0.8274509906768799
+                    65535.0
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.39582476019859314
-                ]
-            ],
-            [
-                [
-                    0.3935405910015106
-                ]
-            ],
-            [
-                [
-                    0.3827069401741028
+                    1048.7109950844053
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.22167576849460602
-                ]
-            ],
-            [
-                [
-                    0.21913118660449982
-                ]
-            ],
-            [
-                [
-                    0.21921132504940033
+                    844.0872948010523
                 ]
             ]
         ],
         "count": [
-            493
+            849
         ],
         "q01": [
             [
                 [
-                    0.011857199334828117
-                ]
-            ],
-            [
-                [
-                    0.007809813316584003
-                ]
-            ],
-            [
-                [
-                    -3.9215686274509807e-13
+                    -1e-10
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.10200168331001781
-                ]
-            ],
-            [
-                [
-                    0.06269277838946073
-                ]
-            ],
-            [
-                [
-                    0.04307805406878308
+                    -1e-10
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.3724988225059772
+                    911.9478885682521
                 ]
-            ],
+            ]
+        ],
+        "q90": [
             [
                 [
-                    0.3764845480816301
+                    2239.917891012438
                 ]
-            ],
+            ]
+        ],
+        "q99": [
             [
                 [
-                    0.36862006264319636
+                    4195.151211685287
                 ]
             ]
+        ]
+    },
+    "observation.gripper_object": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            3.0
+        ],
+        "mean": [
+            2.08528952232922
+        ],
+        "std": [
+            1.2563775992057291
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            -9.999999999999999e-11
+        ],
+        "q10": [
+            -9.999999999999999e-11
+        ],
+        "q50": [
+            2.4960547169032123
+        ],
+        "q90": [
+            2.9998939124585355
+        ],
+        "q99": [
+            2.999989391335854
+        ]
+    },
+    "observation.gripper_speed_request_echo": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "mean": [
+            0.3034594563158092
+        ],
+        "std": [
+            0.42347376808095955
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            -9.999999999999999e-11
+        ],
+        "q10": [
+            -9.999999999999999e-11
+        ],
+        "q50": [
+            -9.999999999999999e-11
+        ],
+        "q90": [
+            0.9999099701472087
+        ],
+        "q99": [
+            0.9999909971047208
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            107.3
+        ],
+        "mean": [
+            53.236593635889406
+        ],
+        "std": [
+            30.7495466470655
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            1.0424558235847958
+        ],
+        "q10": [
+            10.626024089643488
+        ],
+        "q50": [
+            53.23659363588941
+        ],
+        "q90": [
+            95.82586854468093
+        ],
+        "q99": [
+            105.43073144819404
+        ]
+    },
+    "observation.gripper_state": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.9803921580314636
+        ],
+        "mean": [
+            0.2568823729229272
+        ],
+        "std": [
+            0.3223489617653948
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            0.00592838075791408
+        ],
+        "q10": [
+            0.011780391030283607
+        ],
+        "q50": [
+            0.03357183947194987
         ],
         "q90": [
-            [
-                [
-                    0.6861808245857266
-                ]
-            ],
-            [
-                [
-                    0.6823225708063609
-                ]
-            ],
-            [
-                [
-                    0.6745343919298606
-                ]
-            ]
+            0.6939376952551874
         ],
         "q99": [
-            [
-                [
-                    0.7333447520467958
-                ]
-            ],
-            [
-                [
-                    0.7412078378878496
-                ]
-            ],
-            [
-                [
-                    0.7334484416246914
-                ]
-            ]
+            0.6977845617315332
         ]
     },
     "observation.images.workspace_side": {
@@ -675,195 +609,340 @@
         "mean": [
             [
                 [
-                    0.3616730868816376
+                    0.4000917959901273
                 ]
             ],
             [
                 [
-                    0.3931439518928528
+                    0.4201043005615859
                 ]
             ],
             [
                 [
-                    0.386691153049469
+                    0.40246102480641244
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.2871219217777252
+                    0.30203343379786757
                 ]
             ],
             [
                 [
-                    0.2679479420185089
+                    0.27827629538560594
                 ]
             ],
             [
                 [
-                    0.27709856629371643
+                    0.28532430154200894
                 ]
             ]
         ],
         "count": [
-            493
+            849
         ],
         "q01": [
             [
                 [
-                    -3.9215686274509807e-13
+                    -3.92156862745098e-13
                 ]
             ],
             [
                 [
-                    0.023428611190034438
+                    0.019684788123258457
                 ]
             ],
             [
                 [
-                    0.007859370701127074
+                    -3.92156862745098e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.04312945002450492
+                    0.06272413192323825
                 ]
             ],
             [
                 [
-                    0.07847777777744716
+                    0.09603120795986003
                 ]
             ],
             [
                 [
-                    0.06679035947411087
+                    0.07836588258312686
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2900123435946714
+                    0.3587149423960877
                 ]
             ],
             [
                 [
-                    0.35695452669442185
+                    0.34114480621933024
                 ]
             ],
             [
                 [
-                    0.34505310211677365
+                    0.30197434448453353
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.8234741401923091
+                    0.9451858884054795
                 ]
             ],
             [
                 [
-                    0.8038194054108109
+                    0.8904492142519707
                 ]
             ],
             [
                 [
-                    0.7842345750554105
+                    0.9278431748780523
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9883259722745006
+                    0.9863662523251984
                 ]
             ],
             [
                 [
-                    0.9921234604233894
+                    0.9961740877735299
                 ]
             ],
             [
                 [
-                    0.9764939794447289
+                    0.9883170319689194
                 ]
             ]
         ]
     },
-    "observation.images.workspace_front_depth": {
+    "index": {
         "min": [
-            [
-                [
-                    0.0
-                ]
-            ]
+            0.0
         ],
         "max": [
-            [
-                [
-                    65535.0
-                ]
-            ]
+            6389.0
         ],
         "mean": [
-            [
-                [
-                    168.24444580078125
-                ]
-            ]
+            3194.5
         ],
         "std": [
-            [
-                [
-                    298.5573425292969
-                ]
-            ]
+            1844.6340874728155
         ],
         "count": [
-            493
+            6390
         ],
         "q01": [
-            [
-                [
-                    -1e-10
-                ]
-            ]
+            1628.6758656337047
         ],
         "q10": [
-            [
-                [
-                    -1e-10
-                ]
-            ]
+            1916.1829136149436
         ],
         "q50": [
-            [
-                [
-                    197.07543476687928
-                ]
-            ]
+            3194.5
         ],
         "q90": [
-            [
-                [
-                    270.15031903755477
-                ]
-            ]
+            4472.178247261426
         ],
         "q99": [
-            [
-                [
-                    1275.4102946468813
-                ]
-            ]
+            4760.324134366295
         ]
     },
-    "observation.images.workspace_side_depth": {
+    "observation.state": {
+        "min": [
+            -1.8073805570602417,
+            -2.5622012615203857,
+            -1.5241049528121948,
+            -0.6896613240242004,
+            1.570438027381897,
+            4.7129926681518555
+        ],
+        "max": [
+            -1.807214617729187,
+            -2.562021017074585,
+            -1.5239216089248657,
+            -0.6894071698188782,
+            1.570595622062683,
+            4.713162422180176
+        ],
+        "mean": [
+            -1.8072691922643003,
+            -2.562034748343048,
+            -1.5239718738296222,
+            -0.6895431729736089,
+            1.5705537536707657,
+            4.712945191140093
+        ],
+        "std": [
+            0.010401647861569855,
+            0.01863212978883352,
+            0.013656829865522462,
+            0.0009576445672409202,
+            0.002708439368882999,
+            0.0248975553888048
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            -1.80732424462488,
+            -2.56211619430442,
+            -1.5240491054078016,
+            -0.6895819451963158,
+            1.5705090153132795,
+            4.713029728076373
+        ],
+        "q10": [
+            -1.8073117226745417,
+            -2.5621020059364907,
+            -1.5240344454889803,
+            -0.6895664042231935,
+            1.5705216838069311,
+            4.713040380727983
+        ],
+        "q50": [
+            -1.8072930305931858,
+            -2.5620849774529857,
+            -1.5240166969574185,
+            -0.6895448855875839,
+            1.5705394118660911,
+            4.713056692251041
+        ],
+        "q90": [
+            -1.8072767032921246,
+            -2.5620648793605585,
+            -1.5239995569063296,
+            -0.6895199931230178,
+            1.5705560385669282,
+            4.713071606674971
+        ],
+        "q99": [
+            -1.8072651134995121,
+            -2.5620506819423112,
+            -1.5239874824833435,
+            -0.6895046412741831,
+            1.5705663856098873,
+            4.713083660557429
+        ]
+    },
+    "action": {
+        "min": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.0,
+            1.0,
+            1.0
+        ],
+        "mean": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.38137715677140466,
+            0.31111111234238076,
+            0.6876369332297121
+        ],
+        "std": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.4857248334436141,
+            0.42312112168115357,
+            0.39982846824721646
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            3.9999999999994176e-16,
+            3.9999999999994176e-16,
+            3.9999999999994176e-16,
+            3.9999999999994176e-16,
+            3.9999999999994176e-16,
+            3.9999999999994176e-16,
+            -9.999999999999999e-11,
+            -9.999999999999999e-11,
+            -9.999999999999999e-11
+        ],
+        "q10": [
+            3.999999999999417e-15,
+            3.999999999999417e-15,
+            3.999999999999417e-15,
+            3.999999999999417e-15,
+            3.999999999999417e-15,
+            3.999999999999417e-15,
+            -9.999999999999999e-11,
+            -9.999999999999999e-11,
+            -9.999999999999999e-11
+        ],
+        "q50": [
+            1.999999999999709e-14,
+            1.999999999999709e-14,
+            1.999999999999709e-14,
+            1.999999999999709e-14,
+            1.999999999999709e-14,
+            1.999999999999709e-14,
+            -9.999999999999999e-11,
+            -9.999999999999999e-11,
+            0.748067678568341
+        ],
+        "q90": [
+            3.599999999999476e-14,
+            3.599999999999476e-14,
+            3.599999999999476e-14,
+            3.599999999999476e-14,
+            3.599999999999476e-14,
+            3.599999999999476e-14,
+            0.9999468961753349,
+            0.9999108675741735,
+            0.9999646610898296
+        ],
+        "q99": [
+            3.9599999999994235e-14,
+            3.9599999999994235e-14,
+            3.9599999999994235e-14,
+            3.9599999999994235e-14,
+            3.9599999999994235e-14,
+            3.9599999999994235e-14,
+            0.9999946897075336,
+            0.9999910868474174,
+            0.999996466198983
+        ]
+    },
+    "observation.images.workspace_front_depth": {
         "min": [
             [
                 [
@@ -881,19 +960,19 @@
         "mean": [
             [
                 [
-                    977.4337158203125
+                    407.2276822686617
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    830.0924072265625
+                    496.08532060886193
                 ]
             ]
         ],
         "count": [
-            493
+            849
         ],
         "q01": [
             [
@@ -912,87 +991,132 @@
         "q50": [
             [
                 [
-                    788.6064271001634
+                    305.5073873858724
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    1905.9834548152091
+                    1203.5008077269736
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    3696.158447344913
+                    1691.4851791123053
                 ]
             ]
         ]
     },
-    "timestamp": {
+    "action.ee_pose_next": {
         "min": [
-            0.0
+            -0.3948182761669159,
+            -0.8916754126548767,
+            -0.06945659220218658,
+            -1.9109601974487305,
+            2.4324450492858887,
+            0.06237887591123581
         ],
         "max": [
-            130.06666666666666
+            -0.39466366171836853,
+            -0.8915227651596069,
+            -0.06927070021629333,
+            -1.9105849266052246,
+            2.4327874183654785,
+            0.06280429661273956
         ],
         "mean": [
-            65.03333333333335
+            -0.3947356423954822,
+            -0.8916015028953552,
+            -0.06934956834303195,
+            -1.9107484498494107,
+            2.432614287300289,
+            0.06255913022118555
         ],
         "std": [
-            37.55663377807893
+            0.0014185988909542083,
+            0.0,
+            1.380550319648184e-05,
+            0.010978857365178769,
+            0.007031330061302179,
+            0.0004184947718836066
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            1.2754337332352943
+            -0.39476107850323844,
+            -0.8916254569430622,
+            -0.06938457017487752,
+            -1.9108333730363078,
+            2.4325340863944658,
+            0.06249223060195051
         ],
         "q10": [
-            12.988457333253303
+            -0.3947495455280221,
+            -0.8916142395567023,
+            -0.06936860156483152,
+            -1.9108049154989786,
+            2.432561537902638,
+            0.06252107215510826
         ],
         "q50": [
-            65.04634000000001
+            -0.39473246390005257,
+            -0.8916018930862168,
+            -0.0693496014149268,
+            -1.9107729798241024,
+            2.4325934574710066,
+            0.06256041113878576
         ],
         "q90": [
-            117.07820933341334
+            -0.3947174685777882,
+            -0.8915890781202863,
+            -0.06932939934646366,
+            -1.910739707290529,
+            2.432626207016091,
+            0.06259920140273398
         ],
         "q99": [
-            128.79123293343136
+            -0.39470695037553066,
+            -0.8915789161107883,
+            -0.06931421459634705,
+            -1.9107107036623792,
+            2.432652590764314,
+            0.06262994237033928
         ]
     },
-    "frame_index": {
+    "observation.gripper_status": {
         "min": [
             0.0
         ],
         "max": [
-            3902.0
+            3.0
         ],
         "mean": [
-            1951.0
+            2.9723004694089457
         ],
         "std": [
-            1126.6990133423687
+            0.2869338367086035
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            38.26301199990196
+            1.5117370891522692
         ],
         "q10": [
-            389.65371999992004
+            2.999727032252453
         ],
         "q50": [
-            1951.3902
+            2.9998483512734198
         ],
         "q90": [
-            3512.3462800000807
+            2.9999696702943868
         ],
         "q99": [
-            3863.7369880000983
+            2.9999969670741047
         ]
     },
     "episode_index": {
@@ -1000,95 +1124,236 @@
             0.0
         ],
         "max": [
-            0.0
+            1.0
         ],
         "mean": [
-            0.0
+            0.49608763693270735
         ],
         "std": [
-            0.0
+            0.4999846931809309
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            3.9999999999994176e-16
+            0.4960876369327078
         ],
         "q10": [
-            3.999999999999417e-15
+            0.49608763693271135
         ],
         "q50": [
-            1.9999999999997088e-14
+            0.49608763693272734
         ],
         "q90": [
-            3.599999999999476e-14
+            0.4960876369327434
         ],
         "q99": [
-            3.9599999999994235e-14
+            0.49608763693274693
         ]
     },
-    "index": {
+    "observation.ee_force_torque": {
         "min": [
-            0.0
+            -3.2661373615264893,
+            -3.264009952545166,
+            -31.95713996887207,
+            -0.06017579883337021,
+            -0.1625770777463913,
+            -0.20006273686885834
         ],
         "max": [
-            3902.0
+            -1.9565963745117188,
+            -1.558266282081604,
+            -26.67840576171875,
+            0.021301565691828728,
+            -0.09429322928190231,
+            0.038071513175964355
         ],
         "mean": [
-            1951.0
+            -2.5019436028082045,
+            -2.4936676402233764,
+            -30.212106639044197,
+            -0.012386583371877856,
+            -0.12718227794845713,
+            -0.11564152105966458
         ],
         "std": [
-            1126.6990133423687
+            0.23154334604784824,
+            0.16244890363953848,
+            0.8122279619800802,
+            0.0075251400333888885,
+            0.010072785430375883,
+            0.0076626320574820625
         ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            38.26301199990196
+            -2.7057679131377355,
+            -2.76948771410941,
+            -30.562652267492595,
+            -0.021866796493171907,
+            -0.1345829149466581,
+            -0.13174460357054757
         ],
         "q10": [
-            389.65371999992004
+            -2.6145184823406327,
+            -2.639037776967891,
+            -30.40401052618551,
+            -0.017296921092077092,
+            -0.13143730351430252,
+            -0.11887256412388497
         ],
         "q50": [
-            1951.3902
+            -2.503753652845355,
+            -2.4934916613195885,
+            -30.202945605459888,
+            -0.012271378534702183,
+            -0.12721199014654808,
+            -0.11576323888309026
         ],
         "q90": [
-            3512.3462800000807
+            -2.389480729043482,
+            -2.348960983687437,
+            -30.036657216998353,
+            -0.00767698171951424,
+            -0.12297707892640831,
+            -0.11240267890272843
         ],
         "q99": [
-            3863.7369880000983
+            -2.2883111871238415,
+            -2.2126130440687746,
+            -29.919111839621817,
+            -0.003414297659727641,
+            -0.11946392620565041,
+            -0.09806182193477223
         ]
     },
-    "task_index": {
+    "observation.gripper_position_request_echo": {
         "min": [
             0.0
         ],
         "max": [
+            1.0
+        ],
+        "mean": [
+            0.38075118104989913
+        ],
+        "std": [
+            0.48557152529085845
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            -9.999999999999999e-11
+        ],
+        "q10": [
+            -9.999999999999999e-11
+        ],
+        "q50": [
+            -9.999999999999999e-11
+        ],
+        "q90": [
+            0.9999467246233467
+        ],
+        "q99": [
+            0.9999946725523347
+        ]
+    },
+    "observation.gripper_force_request_echo": {
+        "min": [
             0.0
         ],
+        "max": [
+            1.0
+        ],
         "mean": [
+            0.674139163303823
+        ],
+        "std": [
+            0.40598648184749475
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            -9.999999999999999e-11
+        ],
+        "q10": [
+            -9.999999999999999e-11
+        ],
+        "q50": [
+            0.7489688192907106
+        ],
+        "q90": [
+            0.9999638613834663
+        ],
+        "q99": [
+            0.9999963862283466
+        ]
+    },
+    "frame_index": {
+        "min": [
             0.0
         ],
+        "max": [
+            3219.0
+        ],
+        "mean": [
+            1597.0978090766823
+        ],
         "std": [
+            922.486399411965
+        ],
+        "count": [
+            6390
+        ],
+        "q01": [
+            31.2736747103871
+        ],
+        "q10": [
+            318.7807226916258
+        ],
+        "q50": [
+            1597.0978090766823
+        ],
+        "q90": [
+            2874.776056338108
+        ],
+        "q99": [
+            3162.9219434429774
+        ]
+    },
+    "observation.gripper_current": {
+        "min": [
             0.0
         ],
+        "max": [
+            0.7599999904632568
+        ],
+        "mean": [
+            0.026566509329400526
+        ],
+        "std": [
+            0.05823146295761126
+        ],
         "count": [
-            3903
+            6390
         ],
         "q01": [
-            3.9999999999994176e-16
+            -9.999999999999999e-11
         ],
         "q10": [
-            3.999999999999417e-15
+            -9.999999999999999e-11
         ],
         "q50": [
-            1.9999999999997088e-14
+            -9.999999999999999e-11
         ],
         "q90": [
-            3.599999999999476e-14
+            0.0800356903146374
         ],
         "q99": [
-            3.9599999999994235e-14
+            0.19008579787774918
         ]
     }
 }