Hugging Face's logo

Datasets:
oxe-auge
/
iamlab_cmu_pickup_insert_train_400_500_augmented

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
robotics
lerobot
oxe-auge
dataset
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
 Community
GuanhuaJi commited on
Commit
23dfbda
·
verified ·
1 Parent(s): a3e77ed

Add files using upload-large-folder tool

Browse files
Files changed (15) hide show
  1. README.md +139 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +528 -0
  5. meta/stats.json +2263 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.widowX/chunk-000/file-000.mp4 +3 -0
  15. videos/observation.images.xarm7/chunk-000/file-000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ pretty_name: "iamlab_cmu_pickup_insert_train_400_500_augmented"
3
+ license: "cc-by-4.0"
4
+ tags: [robotics, lerobot, oxe-auge, dataset]
5
+ task_categories: [robotics]
6
+
7
+ oxe_aug:
8
+ codebase_version: "v3.0"
9
+ robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
10
+ fps: 30
11
+ total_episodes: 100
12
+ total_frames: 22420
13
+ total_videos: null
14
+
15
+ configs:
16
+ - config_name: default
17
+ data_files:
18
+ - split: train
19
+ path:
20
+ - "data/chunk-*/file-*.parquet"
21
+ ---
22
+ # iamlab_cmu_pickup_insert_train_400_500_augmented
23
+
24
+ ## Overview
25
+
26
+ - **Codebase version**: `v3.0`
27
+ - **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
28
+ - **FPS**: 30
29
+ - **Episodes**: 100
30
+ - **Frames**: 22,420
31
+ - **Splits**:
32
+ - `train`: `0:100`
33
+
34
+ ## Data Layout
35
+
36
+ ```text
37
+ data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
38
+ video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
39
+ ```
40
+
41
+ ## Features
42
+
43
+ | Feature | dtype | shape | description |
44
+ |---|---:|---:|---|
45
+ | `observation.images.google_robot` | `video` | `360×640×3` | Augmented image for google_robot robot |
46
+ | `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
47
+ | `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
48
+ | `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
49
+ | `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
50
+ | `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
51
+ | `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
52
+ | `observation.images.widowX` | `video` | `360×640×3` | Augmented image for widowX robot |
53
+ | `observation.images.xarm7` | `video` | `360×640×3` | Augmented image for xarm7 robot |
54
+ | `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
55
+ | `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
56
+ | `index` | `int64` | `1` | Global frame index across the whole dataset. |
57
+ | `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
58
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
59
+ | `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
60
+ | `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
61
+ | `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
62
+ | `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
63
+ | `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
64
+ | `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
65
+ | `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
66
+ | `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
67
+ | `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
68
+ | `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
69
+ | `observation.joints` | `float32` | `8` | Joint angle of source robot |
70
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
71
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
72
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
73
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
74
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
75
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
76
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
77
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
78
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
79
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
80
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
81
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
82
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
83
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
84
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
85
+ | `observation.state` | `float32` | `20` | Copy of the state field in source robot's RLDS dataset |
86
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
87
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
88
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
89
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
90
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
91
+ | `observation.widowX.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
92
+ | `observation.widowX.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
93
+ | `observation.widowX.ee_error` | `float32` | `7` | The eef difference between the augmented widowX robot and the original robot |
94
+ | `observation.widowX.ee_pose` | `float32` | `7` | The eef position of widowX robot |
95
+ | `observation.widowX.joints` | `float32` | `7` | The joint position of widowX robot |
96
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
97
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
98
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
99
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
100
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
101
+ | `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
102
+ | `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
103
+
104
+ ## Website
105
+
106
+ - Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
107
+ - Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
108
+
109
+ ## Paper
110
+
111
+ - [https://openreview.net/forum?id=WuBv9-IGDUA](https://openreview.net/forum?id=WuBv9-IGDUA)
112
+
113
+ ## Citation Policy
114
+
115
+ If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
116
+
117
+ ## Upstream Dataset Citation (original dataset)
118
+
119
+ ```bibtex
120
+ @inproceedings{saxena2023multiresolution,
121
+ title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
122
+ author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
123
+ booktitle={7th Annual Conference on Robot Learning},
124
+ year={2023},
125
+ url={https://openreview.net/forum?id=WuBv9-IGDUA}
126
+ }
127
+ ```
128
+
129
+ ## OXE-AugE Dataset Citation (ours)
130
+
131
+ ```bibtex
132
+ @misc{
133
+ ji2025oxeaug,
134
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
135
+ author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
136
+ year = {2025},
137
+ note = {Manuscript}
138
+ }
139
+ ```
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9dbf0c55a168411afce2f53d97003db80fb9903d06853f5c8d1058821cc4eb2
3
+ size 24188022
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b83fb308e38989ecf0b0b9650320ada3632858a18ebc3cc58dcd53564d81fcb9
3
+ size 945985
meta/info.json ADDED
@@ -0,0 +1,528 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "mixed",
4
+ "total_episodes": 100,
5
+ "total_frames": 22420,
6
+ "total_tasks": 7,
7
+ "chunks_size": 1000,
8
+ "fps": 30,
9
+ "splits": {
10
+ "train": "0:100"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.widowX.joints": {
16
+ "dtype": "float32",
17
+ "shape": [
18
+ 7
19
+ ],
20
+ "fps": 30
21
+ },
22
+ "observation.widowX.ee_pose": {
23
+ "dtype": "float32",
24
+ "shape": [
25
+ 7
26
+ ],
27
+ "fps": 30
28
+ },
29
+ "observation.widowX.base_position": {
30
+ "dtype": "float32",
31
+ "shape": [
32
+ 3
33
+ ],
34
+ "fps": 30
35
+ },
36
+ "observation.widowX.base_orientation": {
37
+ "dtype": "float32",
38
+ "shape": [
39
+ 1
40
+ ],
41
+ "fps": 30
42
+ },
43
+ "observation.widowX.ee_error": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 7
47
+ ],
48
+ "fps": 30
49
+ },
50
+ "observation.images.widowX": {
51
+ "dtype": "video",
52
+ "shape": [
53
+ 360,
54
+ 640,
55
+ 3
56
+ ],
57
+ "info": {
58
+ "video.height": 360,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.sawyer.joints": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 8
72
+ ],
73
+ "fps": 30
74
+ },
75
+ "observation.sawyer.ee_pose": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 7
79
+ ],
80
+ "fps": 30
81
+ },
82
+ "observation.sawyer.base_position": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 3
86
+ ],
87
+ "fps": 30
88
+ },
89
+ "observation.sawyer.base_orientation": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "fps": 30
95
+ },
96
+ "observation.sawyer.ee_error": {
97
+ "dtype": "float32",
98
+ "shape": [
99
+ 7
100
+ ],
101
+ "fps": 30
102
+ },
103
+ "observation.images.sawyer": {
104
+ "dtype": "video",
105
+ "shape": [
106
+ 360,
107
+ 640,
108
+ 3
109
+ ],
110
+ "info": {
111
+ "video.height": 360,
112
+ "video.width": 640,
113
+ "video.codec": "av1",
114
+ "video.pix_fmt": "yuv420p",
115
+ "video.is_depth_map": false,
116
+ "video.fps": 30,
117
+ "video.channels": 3,
118
+ "has_audio": false
119
+ }
120
+ },
121
+ "observation.ur5e.joints": {
122
+ "dtype": "float32",
123
+ "shape": [
124
+ 7
125
+ ],
126
+ "fps": 30
127
+ },
128
+ "observation.ur5e.ee_pose": {
129
+ "dtype": "float32",
130
+ "shape": [
131
+ 7
132
+ ],
133
+ "fps": 30
134
+ },
135
+ "observation.ur5e.base_position": {
136
+ "dtype": "float32",
137
+ "shape": [
138
+ 3
139
+ ],
140
+ "fps": 30
141
+ },
142
+ "observation.ur5e.base_orientation": {
143
+ "dtype": "float32",
144
+ "shape": [
145
+ 1
146
+ ],
147
+ "fps": 30
148
+ },
149
+ "observation.ur5e.ee_error": {
150
+ "dtype": "float32",
151
+ "shape": [
152
+ 7
153
+ ],
154
+ "fps": 30
155
+ },
156
+ "observation.images.ur5e": {
157
+ "dtype": "video",
158
+ "shape": [
159
+ 360,
160
+ 640,
161
+ 3
162
+ ],
163
+ "info": {
164
+ "video.height": 360,
165
+ "video.width": 640,
166
+ "video.codec": "av1",
167
+ "video.pix_fmt": "yuv420p",
168
+ "video.is_depth_map": false,
169
+ "video.fps": 30,
170
+ "video.channels": 3,
171
+ "has_audio": false
172
+ }
173
+ },
174
+ "observation.google_robot.joints": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 8
178
+ ],
179
+ "fps": 30
180
+ },
181
+ "observation.google_robot.ee_pose": {
182
+ "dtype": "float32",
183
+ "shape": [
184
+ 7
185
+ ],
186
+ "fps": 30
187
+ },
188
+ "observation.google_robot.base_position": {
189
+ "dtype": "float32",
190
+ "shape": [
191
+ 3
192
+ ],
193
+ "fps": 30
194
+ },
195
+ "observation.google_robot.base_orientation": {
196
+ "dtype": "float32",
197
+ "shape": [
198
+ 1
199
+ ],
200
+ "fps": 30
201
+ },
202
+ "observation.google_robot.ee_error": {
203
+ "dtype": "float32",
204
+ "shape": [
205
+ 7
206
+ ],
207
+ "fps": 30
208
+ },
209
+ "observation.images.google_robot": {
210
+ "dtype": "video",
211
+ "shape": [
212
+ 360,
213
+ 640,
214
+ 3
215
+ ],
216
+ "info": {
217
+ "video.height": 360,
218
+ "video.width": 640,
219
+ "video.codec": "av1",
220
+ "video.pix_fmt": "yuv420p",
221
+ "video.is_depth_map": false,
222
+ "video.fps": 30,
223
+ "video.channels": 3,
224
+ "has_audio": false
225
+ }
226
+ },
227
+ "observation.jaco.joints": {
228
+ "dtype": "float32",
229
+ "shape": [
230
+ 7
231
+ ],
232
+ "fps": 30
233
+ },
234
+ "observation.jaco.ee_pose": {
235
+ "dtype": "float32",
236
+ "shape": [
237
+ 7
238
+ ],
239
+ "fps": 30
240
+ },
241
+ "observation.jaco.base_position": {
242
+ "dtype": "float32",
243
+ "shape": [
244
+ 3
245
+ ],
246
+ "fps": 30
247
+ },
248
+ "observation.jaco.base_orientation": {
249
+ "dtype": "float32",
250
+ "shape": [
251
+ 1
252
+ ],
253
+ "fps": 30
254
+ },
255
+ "observation.jaco.ee_error": {
256
+ "dtype": "float32",
257
+ "shape": [
258
+ 7
259
+ ],
260
+ "fps": 30
261
+ },
262
+ "observation.images.jaco": {
263
+ "dtype": "video",
264
+ "shape": [
265
+ 360,
266
+ 640,
267
+ 3
268
+ ],
269
+ "info": {
270
+ "video.height": 360,
271
+ "video.width": 640,
272
+ "video.codec": "av1",
273
+ "video.pix_fmt": "yuv420p",
274
+ "video.is_depth_map": false,
275
+ "video.fps": 30,
276
+ "video.channels": 3,
277
+ "has_audio": false
278
+ }
279
+ },
280
+ "observation.kinova3.joints": {
281
+ "dtype": "float32",
282
+ "shape": [
283
+ 8
284
+ ],
285
+ "fps": 30
286
+ },
287
+ "observation.kinova3.ee_pose": {
288
+ "dtype": "float32",
289
+ "shape": [
290
+ 7
291
+ ],
292
+ "fps": 30
293
+ },
294
+ "observation.kinova3.base_position": {
295
+ "dtype": "float32",
296
+ "shape": [
297
+ 3
298
+ ],
299
+ "fps": 30
300
+ },
301
+ "observation.kinova3.base_orientation": {
302
+ "dtype": "float32",
303
+ "shape": [
304
+ 1
305
+ ],
306
+ "fps": 30
307
+ },
308
+ "observation.kinova3.ee_error": {
309
+ "dtype": "float32",
310
+ "shape": [
311
+ 7
312
+ ],
313
+ "fps": 30
314
+ },
315
+ "observation.images.kinova3": {
316
+ "dtype": "video",
317
+ "shape": [
318
+ 360,
319
+ 640,
320
+ 3
321
+ ],
322
+ "info": {
323
+ "video.height": 360,
324
+ "video.width": 640,
325
+ "video.codec": "av1",
326
+ "video.pix_fmt": "yuv420p",
327
+ "video.is_depth_map": false,
328
+ "video.fps": 30,
329
+ "video.channels": 3,
330
+ "has_audio": false
331
+ }
332
+ },
333
+ "observation.kuka_iiwa.joints": {
334
+ "dtype": "float32",
335
+ "shape": [
336
+ 8
337
+ ],
338
+ "fps": 30
339
+ },
340
+ "observation.kuka_iiwa.ee_pose": {
341
+ "dtype": "float32",
342
+ "shape": [
343
+ 7
344
+ ],
345
+ "fps": 30
346
+ },
347
+ "observation.kuka_iiwa.base_position": {
348
+ "dtype": "float32",
349
+ "shape": [
350
+ 3
351
+ ],
352
+ "fps": 30
353
+ },
354
+ "observation.kuka_iiwa.base_orientation": {
355
+ "dtype": "float32",
356
+ "shape": [
357
+ 1
358
+ ],
359
+ "fps": 30
360
+ },
361
+ "observation.kuka_iiwa.ee_error": {
362
+ "dtype": "float32",
363
+ "shape": [
364
+ 7
365
+ ],
366
+ "fps": 30
367
+ },
368
+ "observation.images.kuka_iiwa": {
369
+ "dtype": "video",
370
+ "shape": [
371
+ 360,
372
+ 640,
373
+ 3
374
+ ],
375
+ "info": {
376
+ "video.height": 360,
377
+ "video.width": 640,
378
+ "video.codec": "av1",
379
+ "video.pix_fmt": "yuv420p",
380
+ "video.is_depth_map": false,
381
+ "video.fps": 30,
382
+ "video.channels": 3,
383
+ "has_audio": false
384
+ }
385
+ },
386
+ "observation.xarm7.joints": {
387
+ "dtype": "float32",
388
+ "shape": [
389
+ 8
390
+ ],
391
+ "fps": 30
392
+ },
393
+ "observation.xarm7.ee_pose": {
394
+ "dtype": "float32",
395
+ "shape": [
396
+ 7
397
+ ],
398
+ "fps": 30
399
+ },
400
+ "observation.xarm7.base_position": {
401
+ "dtype": "float32",
402
+ "shape": [
403
+ 3
404
+ ],
405
+ "fps": 30
406
+ },
407
+ "observation.xarm7.base_orientation": {
408
+ "dtype": "float32",
409
+ "shape": [
410
+ 1
411
+ ],
412
+ "fps": 30
413
+ },
414
+ "observation.xarm7.ee_error": {
415
+ "dtype": "float32",
416
+ "shape": [
417
+ 7
418
+ ],
419
+ "fps": 30
420
+ },
421
+ "observation.images.xarm7": {
422
+ "dtype": "video",
423
+ "shape": [
424
+ 360,
425
+ 640,
426
+ 3
427
+ ],
428
+ "info": {
429
+ "video.height": 360,
430
+ "video.width": 640,
431
+ "video.codec": "av1",
432
+ "video.pix_fmt": "yuv420p",
433
+ "video.is_depth_map": false,
434
+ "video.fps": 30,
435
+ "video.channels": 3,
436
+ "has_audio": false
437
+ }
438
+ },
439
+ "observation.images.image": {
440
+ "dtype": "video",
441
+ "shape": [
442
+ 360,
443
+ 640,
444
+ 3
445
+ ],
446
+ "info": {
447
+ "video.height": 360,
448
+ "video.width": 640,
449
+ "video.codec": "av1",
450
+ "video.pix_fmt": "yuv420p",
451
+ "video.is_depth_map": false,
452
+ "video.fps": 30,
453
+ "video.channels": 3,
454
+ "has_audio": false
455
+ }
456
+ },
457
+ "natural_language_instruction": {
458
+ "dtype": "string",
459
+ "shape": [
460
+ 1
461
+ ],
462
+ "fps": 30
463
+ },
464
+ "observation.state": {
465
+ "dtype": "float32",
466
+ "shape": [
467
+ 20
468
+ ],
469
+ "fps": 30
470
+ },
471
+ "observation.joints": {
472
+ "dtype": "float32",
473
+ "shape": [
474
+ 8
475
+ ],
476
+ "fps": 30
477
+ },
478
+ "observation.ee_pose": {
479
+ "dtype": "float32",
480
+ "shape": [
481
+ 7
482
+ ],
483
+ "fps": 30
484
+ },
485
+ "timestamp": {
486
+ "dtype": "float32",
487
+ "shape": [
488
+ 1
489
+ ],
490
+ "names": null,
491
+ "fps": 30
492
+ },
493
+ "frame_index": {
494
+ "dtype": "int64",
495
+ "shape": [
496
+ 1
497
+ ],
498
+ "names": null,
499
+ "fps": 30
500
+ },
501
+ "episode_index": {
502
+ "dtype": "int64",
503
+ "shape": [
504
+ 1
505
+ ],
506
+ "names": null,
507
+ "fps": 30
508
+ },
509
+ "index": {
510
+ "dtype": "int64",
511
+ "shape": [
512
+ 1
513
+ ],
514
+ "names": null,
515
+ "fps": 30
516
+ },
517
+ "task_index": {
518
+ "dtype": "int64",
519
+ "shape": [
520
+ 1
521
+ ],
522
+ "names": null,
523
+ "fps": 30
524
+ }
525
+ },
526
+ "data_files_size_in_mb": 500,
527
+ "video_files_size_in_mb": 500
528
+ }
meta/stats.json ADDED
@@ -0,0 +1,2263 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 99
8
+ ],
9
+ "mean": [
10
+ 48.458028545941126
11
+ ],
12
+ "std": [
13
+ 28.33907845618555
14
+ ],
15
+ "count": [
16
+ 22420
17
+ ]
18
+ },
19
+ "observation.ur5e.base_orientation": {
20
+ "min": [
21
+ 0.0
22
+ ],
23
+ "max": [
24
+ 0.0
25
+ ],
26
+ "mean": [
27
+ 0.0
28
+ ],
29
+ "std": [
30
+ 0.0
31
+ ],
32
+ "count": [
33
+ 22420
34
+ ]
35
+ },
36
+ "observation.google_robot.joints": {
37
+ "min": [
38
+ -0.6666355133056641,
39
+ 0.7671859860420227,
40
+ -0.5215138792991638,
41
+ 0.4723893702030182,
42
+ -1.7409180402755737,
43
+ -1.7899999618530273,
44
+ -2.652952194213867,
45
+ 0.0
46
+ ],
47
+ "max": [
48
+ 0.8214239478111267,
49
+ 1.8971482515335083,
50
+ 1.8166788816452026,
51
+ 2.3682949542999268,
52
+ 2.246886730194092,
53
+ 0.7731521725654602,
54
+ 1.350000023841858,
55
+ 1.0
56
+ ],
57
+ "mean": [
58
+ 0.17957896007504065,
59
+ 1.3955149541998633,
60
+ 0.6404934870167224,
61
+ 1.4775262094602108,
62
+ 0.44859554061897094,
63
+ -0.3678221135191706,
64
+ -0.1819502499143956,
65
+ 0.3522747550508627
66
+ ],
67
+ "std": [
68
+ 0.33783786276697736,
69
+ 0.21268804203887834,
70
+ 0.4695244168089626,
71
+ 0.3423372529284327,
72
+ 1.4513304951525754,
73
+ 0.7468958153346814,
74
+ 1.4419184480129024,
75
+ 0.4776789915406657
76
+ ],
77
+ "count": [
78
+ 22420
79
+ ]
80
+ },
81
+ "observation.kuka_iiwa.base_position": {
82
+ "min": [
83
+ 0.0,
84
+ 0.0,
85
+ 0.0
86
+ ],
87
+ "max": [
88
+ 0.0,
89
+ 0.0,
90
+ 0.0
91
+ ],
92
+ "mean": [
93
+ 0.0,
94
+ 0.0,
95
+ 0.0
96
+ ],
97
+ "std": [
98
+ 0.0,
99
+ 0.0,
100
+ 0.0
101
+ ],
102
+ "count": [
103
+ 22420
104
+ ]
105
+ },
106
+ "observation.kuka_iiwa.joints": {
107
+ "min": [
108
+ -0.5240544080734253,
109
+ 0.11351025104522705,
110
+ 0.02237890474498272,
111
+ -2.094399929046631,
112
+ -0.1270596832036972,
113
+ 0.28527700901031494,
114
+ -0.4444866478443146,
115
+ 0.0
116
+ ],
117
+ "max": [
118
+ 0.2815276086330414,
119
+ 1.1848317384719849,
120
+ 0.1366494745016098,
121
+ -1.1451328992843628,
122
+ 0.027764691039919853,
123
+ 1.1631875038146973,
124
+ 0.38603711128234863,
125
+ 1.0
126
+ ],
127
+ "mean": [
128
+ -0.05872002155106701,
129
+ 0.7571195091204809,
130
+ 0.0770962271518693,
131
+ -1.7116500999170365,
132
+ -0.056851613513351044,
133
+ 0.6680049182327064,
134
+ 0.033754895568179774,
135
+ 0.3522747550508627
136
+ ],
137
+ "std": [
138
+ 0.1945234343513704,
139
+ 0.21341655723498837,
140
+ 0.018625446493507284,
141
+ 0.2387162569528345,
142
+ 0.0286868493105329,
143
+ 0.15053506400131084,
144
+ 0.17705279711005809,
145
+ 0.4776789915406657
146
+ ],
147
+ "count": [
148
+ 22420
149
+ ]
150
+ },
151
+ "task_index": {
152
+ "min": [
153
+ 0
154
+ ],
155
+ "max": [
156
+ 6
157
+ ],
158
+ "mean": [
159
+ 2.768064228367529
160
+ ],
161
+ "std": [
162
+ 2.0524993357081915
163
+ ],
164
+ "count": [
165
+ 22420
166
+ ]
167
+ },
168
+ "observation.sawyer.joints": {
169
+ "min": [
170
+ -1.544044017791748,
171
+ -1.7214337587356567,
172
+ -0.8055652976036072,
173
+ 1.5494544506072998,
174
+ -0.9131710529327393,
175
+ 0.48632535338401794,
176
+ -3.620788335800171,
177
+ 0.0
178
+ ],
179
+ "max": [
180
+ 0.03479856625199318,
181
+ -0.425117164850235,
182
+ 1.9952611923217773,
183
+ 2.6369235515594482,
184
+ 1.0377765893936157,
185
+ 1.347521185874939,
186
+ 2.094106912612915,
187
+ 1.0
188
+ ],
189
+ "mean": [
190
+ -0.7643879833482505,
191
+ -1.0873153768353543,
192
+ 0.743303169839144,
193
+ 2.0816970310128236,
194
+ -0.4784087464678617,
195
+ 0.7965229995914276,
196
+ -2.678600466506594,
197
+ 0.3522747550508627
198
+ ],
199
+ "std": [
200
+ 0.2918590463810424,
201
+ 0.28243704672208936,
202
+ 0.4474678165722264,
203
+ 0.23052641830092752,
204
+ 0.31890940672459406,
205
+ 0.11744117700329113,
206
+ 0.5799637117786919,
207
+ 0.4776789915406657
208
+ ],
209
+ "count": [
210
+ 22420
211
+ ]
212
+ },
213
+ "observation.xarm7.base_orientation": {
214
+ "min": [
215
+ 0.0
216
+ ],
217
+ "max": [
218
+ 0.0
219
+ ],
220
+ "mean": [
221
+ 0.0
222
+ ],
223
+ "std": [
224
+ 0.0
225
+ ],
226
+ "count": [
227
+ 22420
228
+ ]
229
+ },
230
+ "observation.kinova3.ee_pose": {
231
+ "min": [
232
+ 0.3068499267101288,
233
+ -0.2737271189689636,
234
+ 0.004876182414591312,
235
+ -0.06507477909326553,
236
+ 0.99781334400177,
237
+ -0.014679467305541039,
238
+ -0.018329625949263573
239
+ ],
240
+ "max": [
241
+ 0.6603856682777405,
242
+ 0.22982783615589142,
243
+ 0.3592138886451721,
244
+ 0.028348669409751892,
245
+ 0.999999463558197,
246
+ 0.021423446014523506,
247
+ 0.05712639540433884
248
+ ],
249
+ "mean": [
250
+ 0.5175041929671639,
251
+ 0.0041191906144844165,
252
+ 0.11949319258734357,
253
+ -0.009310200883339996,
254
+ 0.999641713058704,
255
+ 0.003347977804128622,
256
+ 0.014348518805965502
257
+ ],
258
+ "std": [
259
+ 0.0825325605635827,
260
+ 0.11512101467953752,
261
+ 0.075973963805096,
262
+ 0.014991292215120973,
263
+ 0.0003599847941927833,
264
+ 0.007450822251279846,
265
+ 0.011513557548548315
266
+ ],
267
+ "count": [
268
+ 22420
269
+ ]
270
+ },
271
+ "observation.images.widowX": {
272
+ "min": [
273
+ [
274
+ [
275
+ 0.0
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.0
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.0
286
+ ]
287
+ ]
288
+ ],
289
+ "max": [
290
+ [
291
+ [
292
+ 1.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 1.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 1.0
303
+ ]
304
+ ]
305
+ ],
306
+ "mean": [
307
+ [
308
+ [
309
+ 0.3744465671497906
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.3639814852437898
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.34834582018979054
320
+ ]
321
+ ]
322
+ ],
323
+ "std": [
324
+ [
325
+ [
326
+ 0.30324577312420053
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.30133939946601124
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.3032020989596586
337
+ ]
338
+ ]
339
+ ],
340
+ "count": [
341
+ 9989
342
+ ]
343
+ },
344
+ "observation.ur5e.joints": {
345
+ "min": [
346
+ -2.3006792068481445,
347
+ -2.1064670085906982,
348
+ 1.4219123125076294,
349
+ -2.5158426761627197,
350
+ -1.6328953504562378,
351
+ -0.7126474380493164,
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ -1.449061632156372,
356
+ -0.9257715344429016,
357
+ 2.3899641036987305,
358
+ -1.466245174407959,
359
+ -1.4405529499053955,
360
+ 0.09720802307128906,
361
+ 1.0
362
+ ],
363
+ "mean": [
364
+ -1.843037019841486,
365
+ -1.394072118850822,
366
+ 1.931302983355671,
367
+ -2.1344325282178107,
368
+ -1.544928760687014,
369
+ -0.27847552752732085,
370
+ 0.3522747550508627
371
+ ],
372
+ "std": [
373
+ 0.20650966409088967,
374
+ 0.2652114299164545,
375
+ 0.20534671465460871,
376
+ 0.19809410846202669,
377
+ 0.02745462924647333,
378
+ 0.199566275716567,
379
+ 0.4776789915406657
380
+ ],
381
+ "count": [
382
+ 22420
383
+ ]
384
+ },
385
+ "observation.jaco.ee_pose": {
386
+ "min": [
387
+ 0.3068440854549408,
388
+ -0.2737250030040741,
389
+ 0.0048744515515863895,
390
+ -0.0654250755906105,
391
+ 0.9907574653625488,
392
+ -0.01454444695264101,
393
+ -0.018162650987505913
394
+ ],
395
+ "max": [
396
+ 0.6603457927703857,
397
+ 0.22981587052345276,
398
+ 0.3592027425765991,
399
+ 0.02812276780605316,
400
+ 0.9999991655349731,
401
+ 0.02155277319252491,
402
+ 0.13546015322208405
403
+ ],
404
+ "mean": [
405
+ 0.5174853814036372,
406
+ 0.004114801947913904,
407
+ 0.11947385380318742,
408
+ -0.009450756854353419,
409
+ 0.9996244261963467,
410
+ 0.0034625640453732178,
411
+ 0.014886442669434681
412
+ ],
413
+ "std": [
414
+ 0.08254493739443346,
415
+ 0.11511827283974506,
416
+ 0.07596586544605503,
417
+ 0.015032992155568267,
418
+ 0.00039568052900809463,
419
+ 0.007454616732158798,
420
+ 0.012098206781463299
421
+ ],
422
+ "count": [
423
+ 22420
424
+ ]
425
+ },
426
+ "observation.images.kuka_iiwa": {
427
+ "min": [
428
+ [
429
+ [
430
+ 0.0
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.0
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.0
441
+ ]
442
+ ]
443
+ ],
444
+ "max": [
445
+ [
446
+ [
447
+ 1.0
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 1.0
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 1.0
458
+ ]
459
+ ]
460
+ ],
461
+ "mean": [
462
+ [
463
+ [
464
+ 0.3831041776945925
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.36486462889679727
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.33676086969086483
475
+ ]
476
+ ]
477
+ ],
478
+ "std": [
479
+ [
480
+ [
481
+ 0.3126184112520215
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.3027428008793327
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 0.30302145790910784
492
+ ]
493
+ ]
494
+ ],
495
+ "count": [
496
+ 9989
497
+ ]
498
+ },
499
+ "observation.images.xarm7": {
500
+ "min": [
501
+ [
502
+ [
503
+ 0.0
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.0
509
+ ]
510
+ ],
511
+ [
512
+ [
513
+ 0.0
514
+ ]
515
+ ]
516
+ ],
517
+ "max": [
518
+ [
519
+ [
520
+ 1.0
521
+ ]
522
+ ],
523
+ [
524
+ [
525
+ 1.0
526
+ ]
527
+ ],
528
+ [
529
+ [
530
+ 1.0
531
+ ]
532
+ ]
533
+ ],
534
+ "mean": [
535
+ [
536
+ [
537
+ 0.38812021428909493
538
+ ]
539
+ ],
540
+ [
541
+ [
542
+ 0.3783434236810819
543
+ ]
544
+ ],
545
+ [
546
+ [
547
+ 0.3637985639050453
548
+ ]
549
+ ]
550
+ ],
551
+ "std": [
552
+ [
553
+ [
554
+ 0.31653783459317647
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.31520799431503554
560
+ ]
561
+ ],
562
+ [
563
+ [
564
+ 0.31736816242110705
565
+ ]
566
+ ]
567
+ ],
568
+ "count": [
569
+ 9989
570
+ ]
571
+ },
572
+ "observation.google_robot.base_position": {
573
+ "min": [
574
+ 0.0,
575
+ 0.0,
576
+ 0.0
577
+ ],
578
+ "max": [
579
+ 0.0,
580
+ 0.0,
581
+ 0.0
582
+ ],
583
+ "mean": [
584
+ 0.0,
585
+ 0.0,
586
+ 0.0
587
+ ],
588
+ "std": [
589
+ 0.0,
590
+ 0.0,
591
+ 0.0
592
+ ],
593
+ "count": [
594
+ 22420
595
+ ]
596
+ },
597
+ "observation.kinova3.ee_error": {
598
+ "min": [
599
+ -7.212162017822266e-06,
600
+ -1.341104507446289e-07,
601
+ -6.109476089477539e-06,
602
+ -1.2382864952087402e-05,
603
+ -6.973743438720703e-06,
604
+ -2.2837892174720764e-05,
605
+ 4.087015986442566e-05
606
+ ],
607
+ "max": [
608
+ -1.1920928955078125e-06,
609
+ 1.1771917343139648e-06,
610
+ -1.4901161193847656e-06,
611
+ 2.552894875407219e-05,
612
+ 2.384185791015625e-06,
613
+ 2.0965933799743652e-05,
614
+ 0.00018621468916535378
615
+ ],
616
+ "mean": [
617
+ -4.747684089627169e-06,
618
+ 5.450412833484183e-07,
619
+ -3.4257587723137747e-06,
620
+ 9.640718413078136e-06,
621
+ -1.6006346134166446e-06,
622
+ -4.9601711338264405e-06,
623
+ 0.00012376320840179245
624
+ ],
625
+ "std": [
626
+ 1.0556218387240818e-06,
627
+ 2.5078939965268243e-07,
628
+ 8.959031384603227e-07,
629
+ 7.828095863017177e-06,
630
+ 1.2005162160686213e-06,
631
+ 1.002128931613753e-05,
632
+ 2.579643096001123e-05
633
+ ],
634
+ "count": [
635
+ 22420
636
+ ]
637
+ },
638
+ "observation.ur5e.base_position": {
639
+ "min": [
640
+ 0.0,
641
+ 0.0,
642
+ 0.0
643
+ ],
644
+ "max": [
645
+ 0.0,
646
+ 0.0,
647
+ 0.0
648
+ ],
649
+ "mean": [
650
+ 0.0,
651
+ 0.0,
652
+ 0.0
653
+ ],
654
+ "std": [
655
+ 0.0,
656
+ 0.0,
657
+ 0.0
658
+ ],
659
+ "count": [
660
+ 22420
661
+ ]
662
+ },
663
+ "observation.images.ur5e": {
664
+ "min": [
665
+ [
666
+ [
667
+ 0.0
668
+ ]
669
+ ],
670
+ [
671
+ [
672
+ 0.0
673
+ ]
674
+ ],
675
+ [
676
+ [
677
+ 0.0
678
+ ]
679
+ ]
680
+ ],
681
+ "max": [
682
+ [
683
+ [
684
+ 1.0
685
+ ]
686
+ ],
687
+ [
688
+ [
689
+ 1.0
690
+ ]
691
+ ],
692
+ [
693
+ [
694
+ 1.0
695
+ ]
696
+ ]
697
+ ],
698
+ "mean": [
699
+ [
700
+ [
701
+ 0.36570146354890165
702
+ ]
703
+ ],
704
+ [
705
+ [
706
+ 0.3588224502562841
707
+ ]
708
+ ],
709
+ [
710
+ [
711
+ 0.3457210393033646
712
+ ]
713
+ ]
714
+ ],
715
+ "std": [
716
+ [
717
+ [
718
+ 0.30509995709131493
719
+ ]
720
+ ],
721
+ [
722
+ [
723
+ 0.30595859405549264
724
+ ]
725
+ ],
726
+ [
727
+ [
728
+ 0.3083783030391152
729
+ ]
730
+ ]
731
+ ],
732
+ "count": [
733
+ 9989
734
+ ]
735
+ },
736
+ "observation.jaco.base_orientation": {
737
+ "min": [
738
+ 0.0
739
+ ],
740
+ "max": [
741
+ 0.0
742
+ ],
743
+ "mean": [
744
+ 0.0
745
+ ],
746
+ "std": [
747
+ 0.0
748
+ ],
749
+ "count": [
750
+ 22420
751
+ ]
752
+ },
753
+ "observation.ee_pose": {
754
+ "min": [
755
+ 0.3068458139896393,
756
+ -0.27372655272483826,
757
+ 0.004873186349868774,
758
+ 0.9978129267692566,
759
+ -0.014672516845166683,
760
+ -0.018239254131913185,
761
+ -0.06508716195821762
762
+ ],
763
+ "max": [
764
+ 0.6603827476501465,
765
+ 0.22982841730117798,
766
+ 0.35921213030815125,
767
+ 0.9999993443489075,
768
+ 0.02140999399125576,
769
+ 0.05721364542841911,
770
+ 0.02836594171822071
771
+ ],
772
+ "mean": [
773
+ 0.517499436871427,
774
+ 0.004119735936107518,
775
+ 0.11948976202898665,
776
+ 0.9996401287130114,
777
+ 0.0033430182701932147,
778
+ 0.014472282127735606,
779
+ -0.0093005597773351
780
+ ],
781
+ "std": [
782
+ 0.08253320213786498,
783
+ 0.11512084827455112,
784
+ 0.07597368760092434,
785
+ 0.00036044630945239096,
786
+ 0.007446463308106524,
787
+ 0.011502138828063387,
788
+ 0.014997066507492902
789
+ ],
790
+ "count": [
791
+ 22420
792
+ ]
793
+ },
794
+ "observation.kinova3.base_position": {
795
+ "min": [
796
+ 0.0,
797
+ 0.0,
798
+ 0.0
799
+ ],
800
+ "max": [
801
+ 0.0,
802
+ 0.0,
803
+ 0.0
804
+ ],
805
+ "mean": [
806
+ 0.0,
807
+ 0.0,
808
+ 0.0
809
+ ],
810
+ "std": [
811
+ 0.0,
812
+ 0.0,
813
+ 0.0
814
+ ],
815
+ "count": [
816
+ 22420
817
+ ]
818
+ },
819
+ "observation.widowX.base_orientation": {
820
+ "min": [
821
+ 0.0
822
+ ],
823
+ "max": [
824
+ 0.0
825
+ ],
826
+ "mean": [
827
+ 0.0
828
+ ],
829
+ "std": [
830
+ 0.0
831
+ ],
832
+ "count": [
833
+ 22420
834
+ ]
835
+ },
836
+ "observation.google_robot.ee_pose": {
837
+ "min": [
838
+ 0.30758267641067505,
839
+ -0.27300217747688293,
840
+ 0.029867716133594513,
841
+ -0.06513103097677231,
842
+ 0.99165278673172,
843
+ -0.014743573032319546,
844
+ -0.01931682601571083
845
+ ],
846
+ "max": [
847
+ 0.658646821975708,
848
+ 0.2281176745891571,
849
+ 0.38413694500923157,
850
+ 0.028216099366545677,
851
+ 0.9999995231628418,
852
+ 0.02945137582719326,
853
+ 0.12533466517925262
854
+ ],
855
+ "mean": [
856
+ 0.5167633583684461,
857
+ 0.0036562330495561145,
858
+ 0.14445345145513128,
859
+ -0.009185666944731394,
860
+ 0.9995974220913718,
861
+ 0.003444199035782424,
862
+ 0.015079811782990296
863
+ ],
864
+ "std": [
865
+ 0.08227854243350761,
866
+ 0.11460605496944044,
867
+ 0.07596823214161141,
868
+ 0.015039987767470168,
869
+ 0.0006460223888762978,
870
+ 0.007585697828381655,
871
+ 0.014051987302780152
872
+ ],
873
+ "count": [
874
+ 22420
875
+ ]
876
+ },
877
+ "observation.kuka_iiwa.ee_pose": {
878
+ "min": [
879
+ 0.31660884618759155,
880
+ -0.27372458577156067,
881
+ 0.004875077400356531,
882
+ -0.06510309875011444,
883
+ 0.9833562970161438,
884
+ -0.014680705033242702,
885
+ -0.18160390853881836
886
+ ],
887
+ "max": [
888
+ 0.6603785753250122,
889
+ 0.22982579469680786,
890
+ 0.35921093821525574,
891
+ 0.028353296220302582,
892
+ 0.9999994039535522,
893
+ 0.021423129364848137,
894
+ 0.057247284799814224
895
+ ],
896
+ "mean": [
897
+ 0.5186277916490447,
898
+ 0.004116659249153311,
899
+ 0.11964599112386048,
900
+ -0.009340411749318498,
901
+ 0.9989446494326222,
902
+ 0.0033267097347778937,
903
+ 0.0022551544357457673
904
+ ],
905
+ "std": [
906
+ 0.08008154188729742,
907
+ 0.11513450786736727,
908
+ 0.07615852464294191,
909
+ 0.015083744052099297,
910
+ 0.0025086761425709386,
911
+ 0.007458449297540473,
912
+ 0.04143715087191633
913
+ ],
914
+ "count": [
915
+ 22420
916
+ ]
917
+ },
918
+ "observation.widowX.base_position": {
919
+ "min": [
920
+ -0.15000000596046448,
921
+ 0.0,
922
+ -0.10000000149011612
923
+ ],
924
+ "max": [
925
+ -0.15000000596046448,
926
+ 0.0,
927
+ -0.10000000149011612
928
+ ],
929
+ "mean": [
930
+ -0.15000009091968095,
931
+ 0.0,
932
+ -0.10000013585179965
933
+ ],
934
+ "std": [
935
+ 4.3836257188052746e-07,
936
+ 0.0,
937
+ 2.6435456526685635e-07
938
+ ],
939
+ "count": [
940
+ 22420
941
+ ]
942
+ },
943
+ "observation.kuka_iiwa.ee_error": {
944
+ "min": [
945
+ -0.017535686492919922,
946
+ -0.0026052966713905334,
947
+ -0.004726320505142212,
948
+ -0.026547428220510483,
949
+ -0.0005788803100585938,
950
+ -0.0004902391228824854,
951
+ -5.532708019018173e-05
952
+ ],
953
+ "max": [
954
+ 9.417533874511719e-06,
955
+ 0.0017306879162788391,
956
+ 5.587935447692871e-06,
957
+ 0.017863083630800247,
958
+ 0.016618549823760986,
959
+ 0.0008029905729927123,
960
+ 0.18724165856838226
961
+ ],
962
+ "mean": [
963
+ -0.001128360485042367,
964
+ 3.0745947785347853e-06,
965
+ -0.00015622543088005631,
966
+ 3.9851830760907625e-05,
967
+ 0.0006954726416841259,
968
+ 1.6308471221971745e-05,
969
+ 0.01221712517327581
970
+ ],
971
+ "std": [
972
+ 0.0035695640730508352,
973
+ 0.00022206924883125771,
974
+ 0.0005541019159523066,
975
+ 0.002235463002337039,
976
+ 0.0025608432740905616,
977
+ 8.508841225244745e-05,
978
+ 0.038406193146231525
979
+ ],
980
+ "count": [
981
+ 22420
982
+ ]
983
+ },
984
+ "observation.widowX.ee_pose": {
985
+ "min": [
986
+ 0.15757368505001068,
987
+ -0.27321657538414,
988
+ -0.07087317854166031,
989
+ -0.064928337931633,
990
+ 0.9766392111778259,
991
+ -0.17976264655590057,
992
+ -0.018201904371380806
993
+ ],
994
+ "max": [
995
+ 0.5037630796432495,
996
+ 0.22295765578746796,
997
+ 0.27671051025390625,
998
+ 0.132317915558815,
999
+ 0.9999993443489075,
1000
+ 0.02127199061214924,
1001
+ 0.10545801371335983
1002
+ ],
1003
+ "mean": [
1004
+ 0.3661257793031879,
1005
+ 0.0051545731163455755,
1006
+ 0.04396750850130443,
1007
+ 0.018173084733185317,
1008
+ 0.9970190299158114,
1009
+ -0.02728667479009163,
1010
+ 0.019125567113822385
1011
+ ],
1012
+ "std": [
1013
+ 0.08128963358654133,
1014
+ 0.11249385685553158,
1015
+ 0.075830905836154,
1016
+ 0.04516043307746197,
1017
+ 0.0042796054566905635,
1018
+ 0.04644258483428401,
1019
+ 0.017253426869675778
1020
+ ],
1021
+ "count": [
1022
+ 22420
1023
+ ]
1024
+ },
1025
+ "observation.google_robot.ee_error": {
1026
+ "min": [
1027
+ -0.00023430585861206055,
1028
+ -0.0008514821529388428,
1029
+ -0.0001734718680381775,
1030
+ -0.023313375189900398,
1031
+ -5.304813385009766e-06,
1032
+ -0.01574893668293953,
1033
+ -0.09502927958965302
1034
+ ],
1035
+ "max": [
1036
+ 0.00321882963180542,
1037
+ 0.0003381664864718914,
1038
+ 0.0007090121507644653,
1039
+ 0.005890032276511192,
1040
+ 0.007696807384490967,
1041
+ 0.00013800198212265968,
1042
+ 0.0011139046400785446
1043
+ ],
1044
+ "mean": [
1045
+ 1.6787875350635032e-05,
1046
+ -3.4097208969095674e-06,
1047
+ 3.665325272148215e-06,
1048
+ -0.00011489291318196216,
1049
+ 4.268899666429465e-05,
1050
+ -0.00010118121890441058,
1051
+ -0.0006075302616771624
1052
+ ],
1053
+ "std": [
1054
+ 0.0002311690709452897,
1055
+ 5.906276564520831e-05,
1056
+ 3.488431277028017e-05,
1057
+ 0.001670948637150766,
1058
+ 0.0005030266085556003,
1059
+ 0.001024558911567228,
1060
+ 0.006638769072932214
1061
+ ],
1062
+ "count": [
1063
+ 22420
1064
+ ]
1065
+ },
1066
+ "observation.sawyer.base_position": {
1067
+ "min": [
1068
+ 0.0,
1069
+ 0.0,
1070
+ 0.0
1071
+ ],
1072
+ "max": [
1073
+ 0.0,
1074
+ 0.0,
1075
+ 0.0
1076
+ ],
1077
+ "mean": [
1078
+ 0.0,
1079
+ 0.0,
1080
+ 0.0
1081
+ ],
1082
+ "std": [
1083
+ 0.0,
1084
+ 0.0,
1085
+ 0.0
1086
+ ],
1087
+ "count": [
1088
+ 22420
1089
+ ]
1090
+ },
1091
+ "observation.ur5e.ee_pose": {
1092
+ "min": [
1093
+ 0.3068492114543915,
1094
+ -0.27372467517852783,
1095
+ 0.004876443650573492,
1096
+ -0.06507368385791779,
1097
+ 0.9978137016296387,
1098
+ -0.01469793263822794,
1099
+ -0.018281487748026848
1100
+ ],
1101
+ "max": [
1102
+ 0.6603834629058838,
1103
+ 0.229827880859375,
1104
+ 0.35921183228492737,
1105
+ 0.028374040499329567,
1106
+ 0.9999994039535522,
1107
+ 0.02140582911670208,
1108
+ 0.05718591436743736
1109
+ ],
1110
+ "mean": [
1111
+ 0.5175008855966134,
1112
+ 0.004120762987676293,
1113
+ 0.11949205908120131,
1114
+ -0.009296599330727573,
1115
+ 0.9996408769427189,
1116
+ 0.003329528486992737,
1117
+ 0.014416042835859583
1118
+ ],
1119
+ "std": [
1120
+ 0.08253238338313185,
1121
+ 0.11512031551787968,
1122
+ 0.07597306545155402,
1123
+ 0.01499742855490336,
1124
+ 0.0003602506050547377,
1125
+ 0.00745129331970383,
1126
+ 0.011509772092893323
1127
+ ],
1128
+ "count": [
1129
+ 22420
1130
+ ]
1131
+ },
1132
+ "index": {
1133
+ "min": [
1134
+ 0
1135
+ ],
1136
+ "max": [
1137
+ 22419
1138
+ ],
1139
+ "mean": [
1140
+ 11209.5
1141
+ ],
1142
+ "std": [
1143
+ 6472.096511177811
1144
+ ],
1145
+ "count": [
1146
+ 22420
1147
+ ]
1148
+ },
1149
+ "observation.sawyer.ee_error": {
1150
+ "min": [
1151
+ -3.820657730102539e-05,
1152
+ -1.3657845556735992e-05,
1153
+ -7.852911949157715e-06,
1154
+ -0.0004680291749536991,
1155
+ -1.1146068572998047e-05,
1156
+ -0.0001057526096701622,
1157
+ -6.503239274024963e-05
1158
+ ],
1159
+ "max": [
1160
+ 3.2782554626464844e-06,
1161
+ 2.734363079071045e-06,
1162
+ 2.1949410438537598e-05,
1163
+ 5.303695797920227e-05,
1164
+ 9.238719940185547e-06,
1165
+ 0.00019342824816703796,
1166
+ 0.00041284412145614624
1167
+ ],
1168
+ "mean": [
1169
+ -3.867154396141237e-06,
1170
+ -6.941842310215545e-06,
1171
+ 3.211198776344745e-06,
1172
+ -0.000175981562629216,
1173
+ -2.2334221971486e-06,
1174
+ 0.00013661004507945184,
1175
+ 6.0837029357393856e-05
1176
+ ],
1177
+ "std": [
1178
+ 4.174646453274155e-06,
1179
+ 2.128611877712496e-06,
1180
+ 3.818443470841136e-06,
1181
+ 8.822573997640211e-05,
1182
+ 2.6106874761737147e-06,
1183
+ 3.000661532736639e-05,
1184
+ 9.90433963302856e-05
1185
+ ],
1186
+ "count": [
1187
+ 22420
1188
+ ]
1189
+ },
1190
+ "timestamp": {
1191
+ "min": [
1192
+ 0.0
1193
+ ],
1194
+ "max": [
1195
+ 17.233333333333334
1196
+ ],
1197
+ "mean": [
1198
+ 4.348339280404401
1199
+ ],
1200
+ "std": [
1201
+ 3.154859699562156
1202
+ ],
1203
+ "count": [
1204
+ 22420
1205
+ ]
1206
+ },
1207
+ "observation.kuka_iiwa.base_orientation": {
1208
+ "min": [
1209
+ 0.0
1210
+ ],
1211
+ "max": [
1212
+ 0.0
1213
+ ],
1214
+ "mean": [
1215
+ 0.0
1216
+ ],
1217
+ "std": [
1218
+ 0.0
1219
+ ],
1220
+ "count": [
1221
+ 22420
1222
+ ]
1223
+ },
1224
+ "observation.jaco.joints": {
1225
+ "min": [
1226
+ -0.45916327834129333,
1227
+ 1.7377610206604004,
1228
+ 3.5653223991394043,
1229
+ -3.6444756984710693,
1230
+ -1.9713494777679443,
1231
+ -3.0590412616729736,
1232
+ 0.0
1233
+ ],
1234
+ "max": [
1235
+ 0.5949247479438782,
1236
+ 3.00321364402771,
1237
+ 5.729177474975586,
1238
+ 0.6185985207557678,
1239
+ 1.6684513092041016,
1240
+ -0.07752124965190887,
1241
+ 1.0
1242
+ ],
1243
+ "mean": [
1244
+ 0.08402771804071331,
1245
+ 2.271278611546005,
1246
+ 4.506559208202957,
1247
+ -0.2234749733610785,
1248
+ -0.8009047402323196,
1249
+ -2.3968990840370052,
1250
+ 0.3522747550508627
1251
+ ],
1252
+ "std": [
1253
+ 0.22497046116970149,
1254
+ 0.24352460357912703,
1255
+ 0.38962056883020185,
1256
+ 1.2355635990412535,
1257
+ 0.7056782780411601,
1258
+ 0.7980881551201917,
1259
+ 0.4776789915406657
1260
+ ],
1261
+ "count": [
1262
+ 22420
1263
+ ]
1264
+ },
1265
+ "observation.images.jaco": {
1266
+ "min": [
1267
+ [
1268
+ [
1269
+ 0.0
1270
+ ]
1271
+ ],
1272
+ [
1273
+ [
1274
+ 0.0
1275
+ ]
1276
+ ],
1277
+ [
1278
+ [
1279
+ 0.0
1280
+ ]
1281
+ ]
1282
+ ],
1283
+ "max": [
1284
+ [
1285
+ [
1286
+ 1.0
1287
+ ]
1288
+ ],
1289
+ [
1290
+ [
1291
+ 1.0
1292
+ ]
1293
+ ],
1294
+ [
1295
+ [
1296
+ 1.0
1297
+ ]
1298
+ ]
1299
+ ],
1300
+ "mean": [
1301
+ [
1302
+ [
1303
+ 0.36402072516696465
1304
+ ]
1305
+ ],
1306
+ [
1307
+ [
1308
+ 0.35397927371524807
1309
+ ]
1310
+ ],
1311
+ [
1312
+ [
1313
+ 0.3386977068838903
1314
+ ]
1315
+ ]
1316
+ ],
1317
+ "std": [
1318
+ [
1319
+ [
1320
+ 0.3042049643886008
1321
+ ]
1322
+ ],
1323
+ [
1324
+ [
1325
+ 0.30202010305284455
1326
+ ]
1327
+ ],
1328
+ [
1329
+ [
1330
+ 0.30301356633535287
1331
+ ]
1332
+ ]
1333
+ ],
1334
+ "count": [
1335
+ 9989
1336
+ ]
1337
+ },
1338
+ "observation.sawyer.base_orientation": {
1339
+ "min": [
1340
+ 0.0
1341
+ ],
1342
+ "max": [
1343
+ 0.0
1344
+ ],
1345
+ "mean": [
1346
+ 0.0
1347
+ ],
1348
+ "std": [
1349
+ 0.0
1350
+ ],
1351
+ "count": [
1352
+ 22420
1353
+ ]
1354
+ },
1355
+ "observation.images.google_robot": {
1356
+ "min": [
1357
+ [
1358
+ [
1359
+ 0.0
1360
+ ]
1361
+ ],
1362
+ [
1363
+ [
1364
+ 0.0
1365
+ ]
1366
+ ],
1367
+ [
1368
+ [
1369
+ 0.0
1370
+ ]
1371
+ ]
1372
+ ],
1373
+ "max": [
1374
+ [
1375
+ [
1376
+ 1.0
1377
+ ]
1378
+ ],
1379
+ [
1380
+ [
1381
+ 1.0
1382
+ ]
1383
+ ],
1384
+ [
1385
+ [
1386
+ 1.0
1387
+ ]
1388
+ ]
1389
+ ],
1390
+ "mean": [
1391
+ [
1392
+ [
1393
+ 0.40639729301360034
1394
+ ]
1395
+ ],
1396
+ [
1397
+ [
1398
+ 0.39660239395142927
1399
+ ]
1400
+ ],
1401
+ [
1402
+ [
1403
+ 0.37976283247083786
1404
+ ]
1405
+ ]
1406
+ ],
1407
+ "std": [
1408
+ [
1409
+ [
1410
+ 0.30871085723672836
1411
+ ]
1412
+ ],
1413
+ [
1414
+ [
1415
+ 0.30767495792206395
1416
+ ]
1417
+ ],
1418
+ [
1419
+ [
1420
+ 0.3091771993660873
1421
+ ]
1422
+ ]
1423
+ ],
1424
+ "count": [
1425
+ 9989
1426
+ ]
1427
+ },
1428
+ "observation.ur5e.ee_error": {
1429
+ "min": [
1430
+ -4.231929779052734e-06,
1431
+ -3.0137598514556885e-06,
1432
+ -4.197005182504654e-06,
1433
+ -3.360724076628685e-05,
1434
+ -3.159046173095703e-06,
1435
+ -6.2575563788414e-06,
1436
+ -1.13658607006073e-05
1437
+ ],
1438
+ "max": [
1439
+ 9.238719940185547e-06,
1440
+ 2.2798776626586914e-06,
1441
+ 2.7418136596679688e-06,
1442
+ 1.4131423085927963e-05,
1443
+ 1.2516975402832031e-06,
1444
+ 3.611389547586441e-05,
1445
+ 9.760307148098946e-05
1446
+ ],
1447
+ "mean": [
1448
+ -1.4284869830505027e-06,
1449
+ -1.0229068181088903e-06,
1450
+ -2.290708863187174e-06,
1451
+ -3.961385004061718e-06,
1452
+ -7.653029054569704e-07,
1453
+ 1.348935251983933e-05,
1454
+ 5.623939125953508e-05
1455
+ ],
1456
+ "std": [
1457
+ 1.0184476707037143e-06,
1458
+ 7.59652590605487e-07,
1459
+ 7.157193171327501e-07,
1460
+ 7.764597063575391e-06,
1461
+ 5.738344902374256e-07,
1462
+ 1.0449153006477547e-05,
1463
+ 1.8898105084438978e-05
1464
+ ],
1465
+ "count": [
1466
+ 22420
1467
+ ]
1468
+ },
1469
+ "observation.jaco.ee_error": {
1470
+ "min": [
1471
+ -3.5762786865234375e-07,
1472
+ -0.0023713521659374237,
1473
+ -8.450448513031006e-05,
1474
+ -0.02455182932317257,
1475
+ -8.52346420288086e-06,
1476
+ -0.0002039358951151371,
1477
+ -0.13128557801246643
1478
+ ],
1479
+ "max": [
1480
+ 0.0035895109176635742,
1481
+ 0.00022228620946407318,
1482
+ 0.004275240004062653,
1483
+ 0.003578105941414833,
1484
+ 0.009211719036102295,
1485
+ 0.0011717637535184622,
1486
+ 3.113597631454468e-05
1487
+ ],
1488
+ "mean": [
1489
+ 1.4016190383976383e-05,
1490
+ 4.935998466302703e-06,
1491
+ 1.5909757095589996e-05,
1492
+ 0.00015019594216932682,
1493
+ 1.5547371797245757e-05,
1494
+ -0.00011954592323064996,
1495
+ -0.0004141604380633295
1496
+ ],
1497
+ "std": [
1498
+ 0.0001036963198532454,
1499
+ 2.2363737699594196e-05,
1500
+ 0.00022834016803486537,
1501
+ 0.0004086359777100217,
1502
+ 0.0001765279113402081,
1503
+ 4.474940283304427e-05,
1504
+ 0.004248804279522025
1505
+ ],
1506
+ "count": [
1507
+ 22420
1508
+ ]
1509
+ },
1510
+ "observation.kinova3.joints": {
1511
+ "min": [
1512
+ -0.3392040729522705,
1513
+ 0.03460795059800148,
1514
+ -0.21272015571594238,
1515
+ 0.6944891810417175,
1516
+ -0.06604564189910889,
1517
+ 0.5225639939308167,
1518
+ -0.4521794021129608,
1519
+ 0.0
1520
+ ],
1521
+ "max": [
1522
+ 0.47235652804374695,
1523
+ 1.1588166952133179,
1524
+ -0.036702875047922134,
1525
+ 2.1536850929260254,
1526
+ 0.11586315929889679,
1527
+ 1.6559046506881714,
1528
+ 0.40716320276260376,
1529
+ 1.0
1530
+ ],
1531
+ "mean": [
1532
+ 0.00943281617236592,
1533
+ 0.6838221992410048,
1534
+ -0.08696686266011738,
1535
+ 1.4517859585390465,
1536
+ 0.04140192064112173,
1537
+ 0.9757871711977245,
1538
+ -0.07446896769725331,
1539
+ 0.3522747550508627
1540
+ ],
1541
+ "std": [
1542
+ 0.19478997112900626,
1543
+ 0.2359373742895384,
1544
+ 0.026762274889385894,
1545
+ 0.31504849175049315,
1546
+ 0.027131421213611263,
1547
+ 0.18699120874286088,
1548
+ 0.1826273331383293,
1549
+ 0.4776789915406657
1550
+ ],
1551
+ "count": [
1552
+ 22420
1553
+ ]
1554
+ },
1555
+ "observation.xarm7.base_position": {
1556
+ "min": [
1557
+ 0.0,
1558
+ 0.0,
1559
+ 0.0
1560
+ ],
1561
+ "max": [
1562
+ 0.0,
1563
+ 0.0,
1564
+ 0.0
1565
+ ],
1566
+ "mean": [
1567
+ 0.0,
1568
+ 0.0,
1569
+ 0.0
1570
+ ],
1571
+ "std": [
1572
+ 0.0,
1573
+ 0.0,
1574
+ 0.0
1575
+ ],
1576
+ "count": [
1577
+ 22420
1578
+ ]
1579
+ },
1580
+ "observation.images.image": {
1581
+ "min": [
1582
+ [
1583
+ [
1584
+ 0.0
1585
+ ]
1586
+ ],
1587
+ [
1588
+ [
1589
+ 0.0
1590
+ ]
1591
+ ],
1592
+ [
1593
+ [
1594
+ 0.0
1595
+ ]
1596
+ ]
1597
+ ],
1598
+ "max": [
1599
+ [
1600
+ [
1601
+ 1.0
1602
+ ]
1603
+ ],
1604
+ [
1605
+ [
1606
+ 1.0
1607
+ ]
1608
+ ],
1609
+ [
1610
+ [
1611
+ 1.0
1612
+ ]
1613
+ ]
1614
+ ],
1615
+ "mean": [
1616
+ [
1617
+ [
1618
+ 0.3839773983953156
1619
+ ]
1620
+ ],
1621
+ [
1622
+ [
1623
+ 0.37754057933225454
1624
+ ]
1625
+ ],
1626
+ [
1627
+ [
1628
+ 0.3621588024877474
1629
+ ]
1630
+ ]
1631
+ ],
1632
+ "std": [
1633
+ [
1634
+ [
1635
+ 0.30532571457719826
1636
+ ]
1637
+ ],
1638
+ [
1639
+ [
1640
+ 0.3040737424150458
1641
+ ]
1642
+ ],
1643
+ [
1644
+ [
1645
+ 0.3069714073563333
1646
+ ]
1647
+ ]
1648
+ ],
1649
+ "count": [
1650
+ 9989
1651
+ ]
1652
+ },
1653
+ "observation.google_robot.base_orientation": {
1654
+ "min": [
1655
+ 0.0
1656
+ ],
1657
+ "max": [
1658
+ 0.0
1659
+ ],
1660
+ "mean": [
1661
+ 0.0
1662
+ ],
1663
+ "std": [
1664
+ 0.0
1665
+ ],
1666
+ "count": [
1667
+ 22420
1668
+ ]
1669
+ },
1670
+ "observation.images.kinova3": {
1671
+ "min": [
1672
+ [
1673
+ [
1674
+ 0.0
1675
+ ]
1676
+ ],
1677
+ [
1678
+ [
1679
+ 0.0
1680
+ ]
1681
+ ],
1682
+ [
1683
+ [
1684
+ 0.0
1685
+ ]
1686
+ ]
1687
+ ],
1688
+ "max": [
1689
+ [
1690
+ [
1691
+ 1.0
1692
+ ]
1693
+ ],
1694
+ [
1695
+ [
1696
+ 1.0
1697
+ ]
1698
+ ],
1699
+ [
1700
+ [
1701
+ 1.0
1702
+ ]
1703
+ ]
1704
+ ],
1705
+ "mean": [
1706
+ [
1707
+ [
1708
+ 0.38075173325189293
1709
+ ]
1710
+ ],
1711
+ [
1712
+ [
1713
+ 0.3707395875114042
1714
+ ]
1715
+ ],
1716
+ [
1717
+ [
1718
+ 0.3558855157885004
1719
+ ]
1720
+ ]
1721
+ ],
1722
+ "std": [
1723
+ [
1724
+ [
1725
+ 0.31100105427225094
1726
+ ]
1727
+ ],
1728
+ [
1729
+ [
1730
+ 0.3094000387299726
1731
+ ]
1732
+ ],
1733
+ [
1734
+ [
1735
+ 0.31122729796891246
1736
+ ]
1737
+ ]
1738
+ ],
1739
+ "count": [
1740
+ 9989
1741
+ ]
1742
+ },
1743
+ "observation.state": {
1744
+ "min": [
1745
+ -0.6464142799377441,
1746
+ -0.7806294560432434,
1747
+ -0.017819713801145554,
1748
+ -2.954768419265747,
1749
+ -0.44979211688041687,
1750
+ 1.8270034790039062,
1751
+ 0.31234103441238403,
1752
+ 0.0,
1753
+ -2.775512456893921,
1754
+ -11.556790351867676,
1755
+ -36.0179557800293,
1756
+ -7.6275177001953125,
1757
+ -2.9517178535461426,
1758
+ -4.511430263519287,
1759
+ -2.6420555114746094,
1760
+ -11.290586471557617,
1761
+ -6.154082775115967,
1762
+ -2.8425726890563965,
1763
+ -2.277048110961914,
1764
+ -0.8654494285583496
1765
+ ],
1766
+ "max": [
1767
+ 0.23829922080039978,
1768
+ 0.7362549901008606,
1769
+ 0.742962658405304,
1770
+ -1.6825058460235596,
1771
+ 0.09515947103500366,
1772
+ 2.8433003425598145,
1773
+ 1.3430759906768799,
1774
+ 1.0,
1775
+ 10.949828147888184,
1776
+ 11.173294067382812,
1777
+ 6.163010597229004,
1778
+ 4.674361705780029,
1779
+ 19.574636459350586,
1780
+ 4.700146675109863,
1781
+ 10.216766357421875,
1782
+ 11.438701629638672,
1783
+ 35.8958625793457,
1784
+ 2.026566505432129,
1785
+ 1.3266417980194092,
1786
+ 1.1803771257400513
1787
+ ],
1788
+ "mean": [
1789
+ -0.12652146059744634,
1790
+ 0.14980069249872546,
1791
+ 0.12721674682521183,
1792
+ -2.2705088447131394,
1793
+ -0.014762552650885007,
1794
+ 2.448304821400638,
1795
+ 0.7851451518756806,
1796
+ 0.6477252457181223,
1797
+ 4.212655496671729,
1798
+ 0.7056871289648216,
1799
+ -0.46411021887158593,
1800
+ -0.6462736344615136,
1801
+ 1.679251495769362,
1802
+ 0.2282051481633056,
1803
+ 4.231400479694012,
1804
+ -0.6579399396991067,
1805
+ 0.6440008088301229,
1806
+ -0.5016125552731763,
1807
+ -0.6690510158695406,
1808
+ 0.12016638486644714
1809
+ ],
1810
+ "std": [
1811
+ 0.1687740691503769,
1812
+ 0.3282978932686485,
1813
+ 0.11840068281736504,
1814
+ 0.2821503169446242,
1815
+ 0.06435043348577958,
1816
+ 0.1682554024059282,
1817
+ 0.2002530347606054,
1818
+ 0.477678991530363,
1819
+ 1.7950316741605,
1820
+ 1.6831070987724162,
1821
+ 2.517057734371884,
1822
+ 0.9686693771872988,
1823
+ 1.4093868935985319,
1824
+ 0.4342816575788286,
1825
+ 1.7826741635999823,
1826
+ 1.62190412138201,
1827
+ 2.5079717539424107,
1828
+ 0.6971292596382406,
1829
+ 0.4379413937224335,
1830
+ 0.34869104779539795
1831
+ ],
1832
+ "count": [
1833
+ 22420
1834
+ ]
1835
+ },
1836
+ "observation.images.sawyer": {
1837
+ "min": [
1838
+ [
1839
+ [
1840
+ 0.0
1841
+ ]
1842
+ ],
1843
+ [
1844
+ [
1845
+ 0.0
1846
+ ]
1847
+ ],
1848
+ [
1849
+ [
1850
+ 0.0
1851
+ ]
1852
+ ]
1853
+ ],
1854
+ "max": [
1855
+ [
1856
+ [
1857
+ 1.0
1858
+ ]
1859
+ ],
1860
+ [
1861
+ [
1862
+ 1.0
1863
+ ]
1864
+ ],
1865
+ [
1866
+ [
1867
+ 1.0
1868
+ ]
1869
+ ]
1870
+ ],
1871
+ "mean": [
1872
+ [
1873
+ [
1874
+ 0.37270514205059135
1875
+ ]
1876
+ ],
1877
+ [
1878
+ [
1879
+ 0.35142084956305963
1880
+ ]
1881
+ ],
1882
+ [
1883
+ [
1884
+ 0.3371744419406008
1885
+ ]
1886
+ ]
1887
+ ],
1888
+ "std": [
1889
+ [
1890
+ [
1891
+ 0.30607646897681196
1892
+ ]
1893
+ ],
1894
+ [
1895
+ [
1896
+ 0.3036604880117015
1897
+ ]
1898
+ ],
1899
+ [
1900
+ [
1901
+ 0.3046867842656853
1902
+ ]
1903
+ ]
1904
+ ],
1905
+ "count": [
1906
+ 9989
1907
+ ]
1908
+ },
1909
+ "observation.xarm7.joints": {
1910
+ "min": [
1911
+ -0.7966903448104858,
1912
+ -0.7386166453361511,
1913
+ -0.7545788884162903,
1914
+ 0.4597882330417633,
1915
+ -0.5321289896965027,
1916
+ 0.5178876519203186,
1917
+ -3.5502614974975586,
1918
+ 0.0
1919
+ ],
1920
+ "max": [
1921
+ 0.7815088629722595,
1922
+ 1.034468650817871,
1923
+ 0.8250353932380676,
1924
+ 2.051642894744873,
1925
+ 0.5890203714370728,
1926
+ 1.5104719400405884,
1927
+ 3.4483301639556885,
1928
+ 1.0
1929
+ ],
1930
+ "mean": [
1931
+ 0.06357209467966253,
1932
+ 0.3431938734013557,
1933
+ -0.0791990532347871,
1934
+ 1.2284738342906618,
1935
+ 0.08795840011695259,
1936
+ 0.9079024214015062,
1937
+ 0.8965801734779691,
1938
+ 0.3522747550508627
1939
+ ],
1940
+ "std": [
1941
+ 0.4564044363800355,
1942
+ 0.39022533133734627,
1943
+ 0.4535277342461748,
1944
+ 0.34794520062293927,
1945
+ 0.32578682002970605,
1946
+ 0.1660857131795165,
1947
+ 2.841869278138227,
1948
+ 0.4776789915406657
1949
+ ],
1950
+ "count": [
1951
+ 22420
1952
+ ]
1953
+ },
1954
+ "observation.xarm7.ee_error": {
1955
+ "min": [
1956
+ -3.7550926208496094e-06,
1957
+ -9.611248970031738e-06,
1958
+ -3.635883331298828e-06,
1959
+ -0.00024537090212106705,
1960
+ -1.1026859283447266e-05,
1961
+ -0.00017679855227470398,
1962
+ -0.0002100430428981781
1963
+ ],
1964
+ "max": [
1965
+ 1.5556812286376953e-05,
1966
+ 1.0833144187927246e-05,
1967
+ 5.0961971282958984e-06,
1968
+ 0.00027021393179893494,
1969
+ 1.3530254364013672e-05,
1970
+ 0.0001804037019610405,
1971
+ 7.557123899459839e-05
1972
+ ],
1973
+ "mean": [
1974
+ 3.0123847212027065e-06,
1975
+ 1.889897728010729e-06,
1976
+ 3.483133138515508e-07,
1977
+ 4.242655649461838e-05,
1978
+ 2.0011741039988295e-06,
1979
+ -4.48747868966143e-05,
1980
+ -3.953241706145705e-05
1981
+ ],
1982
+ "std": [
1983
+ 3.5185391287410614e-06,
1984
+ 6.344101156512222e-06,
1985
+ 1.3840810990990336e-06,
1986
+ 0.0001553671218730221,
1987
+ 3.6581222409573365e-06,
1988
+ 0.00014415546378195157,
1989
+ 5.090338564109979e-05
1990
+ ],
1991
+ "count": [
1992
+ 22420
1993
+ ]
1994
+ },
1995
+ "observation.kinova3.base_orientation": {
1996
+ "min": [
1997
+ 0.0
1998
+ ],
1999
+ "max": [
2000
+ 0.0
2001
+ ],
2002
+ "mean": [
2003
+ 0.0
2004
+ ],
2005
+ "std": [
2006
+ 0.0
2007
+ ],
2008
+ "count": [
2009
+ 22420
2010
+ ]
2011
+ },
2012
+ "frame_index": {
2013
+ "min": [
2014
+ 0
2015
+ ],
2016
+ "max": [
2017
+ 517
2018
+ ],
2019
+ "mean": [
2020
+ 130.45017841213203
2021
+ ],
2022
+ "std": [
2023
+ 94.64579098686468
2024
+ ],
2025
+ "count": [
2026
+ 22420
2027
+ ]
2028
+ },
2029
+ "observation.joints": {
2030
+ "min": [
2031
+ -0.6420228481292725,
2032
+ -0.7806294560432434,
2033
+ -0.017819713801145554,
2034
+ -2.954768419265747,
2035
+ -0.44979211688041687,
2036
+ 1.8270034790039062,
2037
+ 0.31234103441238403,
2038
+ 0.0
2039
+ ],
2040
+ "max": [
2041
+ 0.23829922080039978,
2042
+ 0.7362549901008606,
2043
+ 0.7391358017921448,
2044
+ -1.6825058460235596,
2045
+ 0.09515947103500366,
2046
+ 2.8433003425598145,
2047
+ 1.3430759906768799,
2048
+ 1.0
2049
+ ],
2050
+ "mean": [
2051
+ -0.12586790482496937,
2052
+ 0.14559991164111144,
2053
+ 0.1264522750156389,
2054
+ -2.274538307531299,
2055
+ -0.014566454526917908,
2056
+ 2.447885792867931,
2057
+ 0.7850281047698752,
2058
+ 0.3522747550508627
2059
+ ],
2060
+ "std": [
2061
+ 0.1683982358595884,
2062
+ 0.3315869208411451,
2063
+ 0.11820953622596726,
2064
+ 0.28359571784744414,
2065
+ 0.06434696847428324,
2066
+ 0.16891203486781006,
2067
+ 0.19956662350216722,
2068
+ 0.4776789915406657
2069
+ ],
2070
+ "count": [
2071
+ 22420
2072
+ ]
2073
+ },
2074
+ "observation.widowX.ee_error": {
2075
+ "min": [
2076
+ -0.0018079280853271484,
2077
+ -0.009179219603538513,
2078
+ -0.0004180818796157837,
2079
+ -0.1163879781961441,
2080
+ -0.0003116130828857422,
2081
+ 2.507941098883748e-05,
2082
+ -0.0891093835234642
2083
+ ],
2084
+ "max": [
2085
+ 0.012162089347839355,
2086
+ 0.005259454250335693,
2087
+ 0.00742754340171814,
2088
+ 0.037027426064014435,
2089
+ 0.022610843181610107,
2090
+ 0.18257470428943634,
2091
+ 0.0028037186712026596
2092
+ ],
2093
+ "mean": [
2094
+ 0.0006543547444335817,
2095
+ -0.0015017437600894031,
2096
+ 0.0004896022899163366,
2097
+ -0.027473644350347673,
2098
+ 0.0026209139412987047,
2099
+ 0.030629690500891787,
2100
+ -0.004653284909226403
2101
+ ],
2102
+ "std": [
2103
+ 0.0021128037763250267,
2104
+ 0.0024107944057121643,
2105
+ 0.0007692463700372348,
2106
+ 0.03620052889697089,
2107
+ 0.004305965458732117,
2108
+ 0.04291759657447334,
2109
+ 0.009831203824450026
2110
+ ],
2111
+ "count": [
2112
+ 22420
2113
+ ]
2114
+ },
2115
+ "observation.widowX.joints": {
2116
+ "min": [
2117
+ -0.6525468230247498,
2118
+ -0.5732232928276062,
2119
+ -1.5382578372955322,
2120
+ -3.138801336288452,
2121
+ -1.7453299760818481,
2122
+ -3.141580104827881,
2123
+ 0.0
2124
+ ],
2125
+ "max": [
2126
+ 0.4935252368450165,
2127
+ 1.4776667356491089,
2128
+ 0.9318919777870178,
2129
+ 0.16173620522022247,
2130
+ 2.0920348167419434,
2131
+ -0.4492039978504181,
2132
+ 1.0
2133
+ ],
2134
+ "mean": [
2135
+ 0.025677258332187675,
2136
+ 0.4999699456499263,
2137
+ -0.1434082216894741,
2138
+ -0.06946875398956678,
2139
+ 1.1400702709018067,
2140
+ -3.0130529555170584,
2141
+ 0.3522747550508627
2142
+ ],
2143
+ "std": [
2144
+ 0.24213616412139377,
2145
+ 0.4354568840343313,
2146
+ 0.5832164147949371,
2147
+ 0.2838569078896208,
2148
+ 0.3761680621048311,
2149
+ 0.2594562548701008,
2150
+ 0.4776789915406657
2151
+ ],
2152
+ "count": [
2153
+ 22420
2154
+ ]
2155
+ },
2156
+ "observation.sawyer.ee_pose": {
2157
+ "min": [
2158
+ 0.3068486750125885,
2159
+ -0.27372878789901733,
2160
+ 0.0048709046095609665,
2161
+ -0.06496940553188324,
2162
+ 0.9978219270706177,
2163
+ -0.014846066012978554,
2164
+ -0.018309297040104866
2165
+ ],
2166
+ "max": [
2167
+ 0.6603826880455017,
2168
+ 0.22983236610889435,
2169
+ 0.3592122197151184,
2170
+ 0.028658729046583176,
2171
+ 0.9999995827674866,
2172
+ 0.02129342593252659,
2173
+ 0.05720311775803566
2174
+ ],
2175
+ "mean": [
2176
+ 0.5175033128468933,
2177
+ 0.004126674674113217,
2178
+ 0.11948655961225944,
2179
+ -0.00912457856235776,
2180
+ 0.9996422733450233,
2181
+ 0.003206408257764379,
2182
+ 0.014411445115670067
2183
+ ],
2184
+ "std": [
2185
+ 0.0825305376108201,
2186
+ 0.11512072618512977,
2187
+ 0.07597384183270181,
2188
+ 0.015036367670467383,
2189
+ 0.00035926703741603807,
2190
+ 0.007455026313415241,
2191
+ 0.01150745947532726
2192
+ ],
2193
+ "count": [
2194
+ 22420
2195
+ ]
2196
+ },
2197
+ "observation.jaco.base_position": {
2198
+ "min": [
2199
+ 0.0,
2200
+ 0.0,
2201
+ 0.0
2202
+ ],
2203
+ "max": [
2204
+ 0.0,
2205
+ 0.0,
2206
+ 0.0
2207
+ ],
2208
+ "mean": [
2209
+ 0.0,
2210
+ 0.0,
2211
+ 0.0
2212
+ ],
2213
+ "std": [
2214
+ 0.0,
2215
+ 0.0,
2216
+ 0.0
2217
+ ],
2218
+ "count": [
2219
+ 22420
2220
+ ]
2221
+ },
2222
+ "observation.xarm7.ee_pose": {
2223
+ "min": [
2224
+ 0.30684274435043335,
2225
+ -0.27371838688850403,
2226
+ 0.004872757475823164,
2227
+ -0.06494186073541641,
2228
+ 0.99782395362854,
2229
+ -0.014524068683385849,
2230
+ -0.01818634383380413
2231
+ ],
2232
+ "max": [
2233
+ 0.6603675484657288,
2234
+ 0.22981825470924377,
2235
+ 0.35920748114585876,
2236
+ 0.02819521725177765,
2237
+ 0.9999992251396179,
2238
+ 0.021570906043052673,
2239
+ 0.057297784835100174
2240
+ ],
2241
+ "mean": [
2242
+ 0.5174964289411065,
2243
+ 0.004117844644709624,
2244
+ 0.1194894207463692,
2245
+ -0.009342986529333273,
2246
+ 0.9996380484949575,
2247
+ 0.003387893174231448,
2248
+ 0.014511814599285147
2249
+ ],
2250
+ "std": [
2251
+ 0.0825314056100879,
2252
+ 0.11511864398066757,
2253
+ 0.07597376703013,
2254
+ 0.015026345994399155,
2255
+ 0.0003620860262875336,
2256
+ 0.007479648528241143,
2257
+ 0.011518917786817837
2258
+ ],
2259
+ "count": [
2260
+ 22420
2261
+ ]
2262
+ }
2263
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b77e04695bd612dce488c8508b67cc5ff0c1e6379737606dd67cc75497e2eebd
3
+ size 2272
videos/observation.images.google_robot/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38a01a8fbc6aafc90cd79ac08322058197d7014ac024bcfbb88d2c0075df2ae1
3
+ size 215356589
videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ed6be79487bfc28941a2aabaa3655e9a08f4e18a9793a536db6d8e2e24ab5e0
3
+ size 241387774
videos/observation.images.jaco/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d7166aa90a69da76806b013e66171935af316ea30985c76ec6e0d964238a709
3
+ size 215185004
videos/observation.images.kinova3/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99bd94c5bcc120f771dd0e406f38a92ba417470ccf670c4c48109b3e4ca686be
3
+ size 217859476
videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41b86c9701bcfcf1334614afd32cf349b3b7d4192eafb1c93c2ac2e25ab1f642
3
+ size 211694011
videos/observation.images.sawyer/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8566facb7bdbceddcac594d9fc65162650f3e8a333c39063a7c4cde29941641
3
+ size 219028371
videos/observation.images.ur5e/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19222b6d69a5dff13fae63b2e259d8b94d2b7f3fd6c65bd3210639b7b478aaa2
3
+ size 218176532
videos/observation.images.widowX/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b19854e2aa17ad026366a5dc210f3b2e0c10356b8c12f751714b62dc1f32b3d7
3
+ size 221827337
videos/observation.images.xarm7/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42aadaae3f8233088f819b692653c36dcb7800a82a4b2c0cd51a46c8e25c1c01
3
+ size 218201857