{ "a2d": { "observation.images.head_right_fisheye": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2315717310162484 ] ], [ [ 0.23159259189816572 ] ], [ [ 0.22936478737541055 ] ] ], "std": [ [ [ 0.14033539618767438 ] ], [ [ 0.14262738424953927 ] ], [ [ 0.14294225543343958 ] ] ], "count": [ 377479 ] }, "observation.images.head_center_fisheye": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2170564526776088 ] ], [ [ 0.21715563952928688 ] ], [ [ 0.21329664920334832 ] ] ], "std": [ [ [ 0.13733952334113325 ] ], [ [ 0.13933204888565712 ] ], [ [ 0.13837168358341617 ] ] ], "count": [ 377479 ] }, "observation.images.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4342076007237568 ] ], [ [ 0.43646875224929266 ] ], [ [ 0.43947909177612193 ] ] ], "std": [ [ [ 0.238587756768418 ] ], [ [ 0.23212485938515712 ] ], [ [ 0.2303160651119787 ] ] ], "count": [ 377479 ] }, "observation.states.head.position": { "min": [ -0.3141944110393524, -7.989483492565341e-06 ], "max": [ 0.3491190969944, 0.5243231654167175 ], "mean": [ -0.006390239577740431, 0.4214302599430084 ], "std": [ 0.040385738015174866, 0.07512572407722473 ], "count": [ 206317747 ] }, "observation.states.waist.position": { "min": [ -0.00019494339358061552, -3.51537273672875e-05 ], "max": [ 0.8899499773979187, 0.6806919574737549 ], "mean": [ 0.462455153465271, 0.2702843248844147 ], "std": [ 0.13027304410934448, 0.1003517434000969 ], "count": [ 206317747 ] }, "actions.end.orientation": { "min": [ -0.8659883141517639, -0.707099199295044, -0.8578947186470032, -0.5 ], "max": [ 0.9999998211860657, 0.9999992251396179, 0.9986231923103333, 0.9996573328971863 ], "mean": [ -0.0957142785191536, 0.33084630966186523, -0.16654019057750702, 0.21365666389465332 ], "std": [ 0.5548436045646667, 0.47030869126319885, 0.3892369866371155, 0.35699814558029175 ], "count": [ 412635494 ] }, "observation.images.hand_right": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4012361263480749 ] ], [ [ 0.4128215547931966 ] ], [ [ 0.41201127556394607 ] ] ], "std": [ [ [ 0.3006461868623912 ] ], [ [ 0.2870540652329497 ] ], [ [ 0.28873655436784607 ] ] ], "count": [ 377479 ] }, "observation.states.joint.current_value": { "min": [ -21509.0, -21583.0, -26576.0, -27299.0, -14975.0, -15064.0, -14811.0, -21502.0, -21507.0, -26476.0, -26706.0, -14990.0, -14856.0, -14972.0 ], "max": [ 21311.0, 21799.0, 27382.0, 27585.0, 14989.0, 15018.0, 12276.0, 21545.0, 21508.0, 26707.0, 27705.0, 15040.0, 15010.0, 11652.0 ], "mean": [ -1973.25830078125, -594.5382080078125, -2118.474853515625, -1013.27880859375, -1161.8677978515625, 125.57772827148438, 13.544347763061523, 2125.65283203125, 572.1343994140625, 2160.431640625, 930.390625, 1165.202880859375, -169.16151428222656, -20.55805206298828 ], "std": [ 1171.3841552734375, 702.0079956054688, 1523.385986328125, 1328.933349609375, 1126.8544921875, 983.2664794921875, 243.56626892089844, 1217.5579833984375, 763.5587158203125, 1420.76806640625, 1297.6051025390625, 944.412109375, 955.84423828125, 268.05047607421875 ], "count": [ 206317747 ] }, "actions.waist.position": { "min": [ -0.00019494339358061552, -3.51537273672875e-05 ], "max": [ 0.8899499773979187, 0.6806919574737549 ], "mean": [ 0.462455153465271, 0.2702843248844147 ], "std": [ 0.13027304410934448, 0.1003517434000969 ], "count": [ 206317747 ] }, "observation.images.back_left_fisheye": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2406036947933155 ] ], [ [ 0.23535502602992275 ] ], [ [ 0.23411491353305053 ] ] ], "std": [ [ [ 0.14170669996228788 ] ], [ [ 0.14011669717959988 ] ], [ [ 0.1402756774757254 ] ] ], "count": [ 377479 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 371.73333740234375 ], "mean": [ 37.82756042480469 ], "std": [ 30.960451126098633 ], "count": [ 206317747 ] }, "observation.states.end.orientation": { "min": [ -0.8659883141517639, -0.707099199295044, -0.8578947186470032, -0.5 ], "max": [ 0.9999998211860657, 0.9999992251396179, 0.9986231923103333, 0.9996573328971863 ], "mean": [ -0.09570971131324768, 0.33084073662757874, -0.16653458774089813, 0.21365401148796082 ], "std": [ 0.5548442006111145, 0.4703128933906555, 0.38923993706703186, 0.3569991886615753 ], "count": [ 412635494 ] }, "observation.images.hand_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.41786597235305717 ] ], [ [ 0.4284313766342145 ] ], [ [ 0.42881415371165427 ] ] ], "std": [ [ [ 0.2625953225261703 ] ], [ [ 0.24836191157221135 ] ], [ [ 0.2543553211379638 ] ] ], "count": [ 377479 ] }, "observation.states.end.position": { "min": [ 0.19337546825408936, -0.7023321390151978, 0.02558809332549572 ], "max": [ 0.9986844062805176, 0.6781377792358398, 1.3737616539001465 ], "mean": [ 0.6642024517059326, -0.007329180371016264, 0.6810888051986694 ], "std": [ 0.07928971946239471, 0.31414300203323364, 0.18238481879234314 ], "count": [ 412635494 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 11152.0 ], "mean": [ 1134.8265380859375 ], "std": [ 928.8145751953125 ], "count": [ 206317747 ] }, "observation.states.joint.position": { "min": [ -3.1426401138305664, -1.8865216970443726, -2.9275848865509033, -1.5048705339431763, -3.08754301071167, -1.7474952936172485, -3.140000104904175, -2.8576574325561523, -2.033689260482788, -3.140000104904175, -1.484890341758728, -3.1418726444244385, -1.7603733539581299, -3.140075206756592 ], "max": [ 2.8758695125579834, 2.0117151737213135, 3.138101577758789, 1.4812432527542114, 3.1430766582489014, 1.7610539197921753, 3.1404590606689453, 3.140000104904175, 1.9619559049606323, 3.1351795196533203, 1.5224602222442627, 3.1516618728637695, 1.741370439529419, 3.140075206756592 ], "mean": [ -1.2326810359954834, 0.7677901387214661, 0.8066206574440002, -0.8516032695770264, 0.5997862815856934, 1.1834211349487305, 0.06289777904748917, 1.2573060989379883, -0.7288170456886292, -0.9002650380134583, 0.8033254742622375, -0.568104088306427, -1.1562278270721436, 0.0007565367268398404 ], "std": [ 0.5751113891601562, 0.3921157717704773, 0.6091160178184509, 0.4113500714302063, 0.5058683156967163, 0.3978140950202942, 0.6982151865959167, 0.6329915523529053, 0.44166192412376404, 0.6600342392921448, 0.41723132133483887, 0.4813174903392792, 0.3783360421657562, 0.7129143476486206 ], "count": [ 206317747 ] }, "index": { "min": [ 0.0 ], "max": [ 10437652.0 ], "mean": [ 1407644.875 ], "std": [ 1539739.0 ], "count": [ 206317747 ] }, "task_index": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 206317747 ] }, "actions.head.position": { "min": [ -0.3141944110393524, -7.989483492565341e-06 ], "max": [ 0.3491190969944, 0.5243231654167175 ], "mean": [ -0.006390239577740431, 0.4214302599430084 ], "std": [ 0.040385738015174866, 0.07512572407722473 ], "count": [ 206317747 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 8232.0 ], "mean": [ 767.5787963867188 ], "std": [ 1093.5506591796875 ], "count": [ 206317747 ] }, "actions.joint.position": { "min": [ -1.7914215326309204, -1.6348680257797241, -1.4873474836349487, -1.4548759460449219, -2.240899085998535, -1.8038171529769897, -3.4757676124572754, -1.6461334228515625, -1.3727182149887085, -1.444272518157959, -1.2959821224212646, -1.7712056636810303, -1.848980188369751, -3.174412727355957 ], "max": [ 1.6070955991744995, 1.1229939460754395, 1.2000415325164795, 1.2937791347503662, 1.663032054901123, 1.6665472984313965, 3.1848840713500977, 1.6074773073196411, 1.7747725248336792, 1.4743931293487549, 1.4139199256896973, 1.9228148460388184, 1.8182251453399658, 2.559840202331543 ], "mean": [ -0.0019902666099369526, 0.0007972356979735196, 0.005883503705263138, 0.002925095148384571, -0.0023837448097765446, -0.0032534017227590084, 0.0030469002667814493, 0.002534338738769293, -0.0006564394570887089, -0.007297950331121683, -0.0034327625762671232, 0.003094361163675785, 0.0033172282855957747, -0.003114244667813182 ], "std": [ 0.05846413969993591, 0.05941038578748703, 0.05411318689584732, 0.06191148981451988, 0.06851422786712646, 0.07117217034101486, 0.08588860929012299, 0.06875154376029968, 0.07714387774467468, 0.06475178897380829, 0.0728577971458435, 0.07771088927984238, 0.08220776170492172, 0.10469666123390198 ], "count": [ 10039066750 ] }, "observation.states.robot.position": { "min": [ -10.095999717712402, -26.13800048828125, 0.0 ], "max": [ 13.439000129699707, 18.18899917602539, 0.0 ], "mean": [ 0.018679631873965263, -0.000379027595045045, 0.0 ], "std": [ 0.5366398096084595, 0.4929087162017822, 0.0 ], "count": [ 206317747 ] }, "actions.end.position": { "min": [ 0.19337546825408936, -0.7023321390151978, 0.02587788738310337 ], "max": [ 0.9986844062805176, 0.6781377792358398, 1.3737616539001465 ], "mean": [ 0.6642028093338013, -0.007328854873776436, 0.6810888051986694 ], "std": [ 0.07928933948278427, 0.31414082646369934, 0.18238449096679688 ], "count": [ 412635494 ] }, "observation.states.effector.position": { "min": [ 31.68000030517578, 32.79999923706055 ], "max": [ 124.24285888671875, 124.28878021240234 ], "mean": [ 63.92190170288086, 67.9267578125 ], "std": [ 37.45624542236328, 38.00613021850586 ], "count": [ 206317747 ] }, "observation.images.head_left_fisheye": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2273635830751999 ] ], [ [ 0.22639874164807958 ] ], [ [ 0.22391866267180333 ] ] ], "std": [ [ [ 0.13988676701500716 ] ], [ [ 0.1404964710507028 ] ], [ [ 0.1400171912642899 ] ] ], "count": [ 377479 ] }, "observation.states.robot.orientation": { "min": [ 0.0, 0.0, -0.9999999403953552, 0.0 ], "max": [ 0.0, 0.0, 0.9999999403953552, 1.0 ], "mean": [ 0.0, 0.0, -0.0044853053987026215, 0.8723011016845703 ], "std": [ 0.0, 0.0, 0.17404766380786896, 0.3195227086544037 ], "count": [ 206317747 ] }, "actions.effector.position": { "min": [ 0.0, 0.0 ], "max": [ 1.0, 1.0 ], "mean": [ 0.38904863595962524, 0.4319799244403839 ], "std": [ 0.486628919839859, 0.4939044713973999 ], "count": [ 10039066750 ] }, "observation.images.back_right_fisheye": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.24406564106197712 ] ], [ [ 0.23887354567756203 ] ], [ [ 0.23895767925496028 ] ] ], "std": [ [ [ 0.14380076551541654 ] ], [ [ 0.14275321411059783 ] ], [ [ 0.1430845503139609 ] ] ], "count": [ 377479 ] }, "actions.robot.velocity": { "min": [ -1.600000023841858, -1.0 ], "max": [ 1.600000023841858, 1.0 ], "mean": [ 0.003452081000432372, -0.0004149683518335223 ], "std": [ 0.1737053096294403, 0.06619741767644882 ], "count": [ 206317747 ] } }, "fastumi-dual": { "timestamp": { "min": [ 0.0 ], "max": [ 80.30000305175781 ], "mean": [ 15.0211181640625 ], "std": [ 10.564391136169434 ], "count": [ 168425322 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 1606.0 ], "mean": [ 300.4224853515625 ], "std": [ 211.28793334960938 ], "count": [ 168425322 ] }, "observation.state": { "min": [ -0.11862096935510635, -0.5676758885383606, -0.1848101168870926, -0.7057750225067139, -0.7040443420410156, -0.7070769667625427, -0.707090437412262, 0.0, -0.20085039734840393, -0.7329530119895935, -0.2267322987318039, -0.7068197727203369, -0.7014908790588379, -0.7070993185043335, -0.7071007490158081, 0.0 ], "max": [ 0.9247521162033081, 0.7879078984260559, 0.5517377853393555, 0.8879699110984802, 0.9300415515899658, 0.9665517210960388, 1.0, 1.0, 0.9460640549659729, 0.6672215461730957, 0.7026964426040649, 0.8903431296348572, 0.9513095617294312, 0.9963571429252625, 1.0, 1.0 ], "mean": [ 0.3798789381980896, -0.017069583758711815, 0.15297211706638336, -0.02072935178875923, 0.09152553975582123, -0.07558321207761765, 0.9635263681411743, 0.8332995772361755, 0.3992982506752014, 0.024310382083058357, 0.14078985154628754, 0.031907256692647934, 0.11636482924222946, 0.06435264647006989, 0.9597333669662476, 0.8183660507202148 ], "std": [ 0.09498082101345062, 0.09347473829984665, 0.06553445011377335, 0.09289687126874924, 0.15159957110881805, 0.14371447265148163, 0.06950893998146057, 0.32139238715171814, 0.11665228009223938, 0.105769582092762, 0.0868070125579834, 0.10261242091655731, 0.1692952960729599, 0.12530380487442017, 0.07294372469186783, 0.34004977345466614 ], "count": [ 168425322 ] }, "robot_1_state": { "min": [ -0.20085039734840393, -0.7329530119895935, -0.2267322987318039, -0.7068197727203369, -0.7014908790588379, -0.7070993185043335, -0.7071007490158081, 0.0 ], "max": [ 0.9460640549659729, 0.6672215461730957, 0.7026964426040649, 0.8903431296348572, 0.9513095617294312, 0.9963571429252625, 1.0, 1.0 ], "mean": [ 0.3992982506752014, 0.024310382083058357, 0.14078985154628754, 0.031907256692647934, 0.11636482924222946, 0.06435264647006989, 0.9597333669662476, 0.8183660507202148 ], "std": [ 0.11665228009223938, 0.105769582092762, 0.0868070125579834, 0.10261242091655731, 0.1692952960729599, 0.12530380487442017, 0.07294372469186783, 0.34004977345466614 ], "count": [ 168425322 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 5923.0 ], "mean": [ 858.125 ], "std": [ 878.6865234375 ], "count": [ 168425322 ] }, "index": { "min": [ 0.0 ], "max": [ 2787501.0 ], "mean": [ 471120.40625 ], "std": [ 450803.9375 ], "count": [ 168425322 ] }, "task_index": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 168425322 ] }, "action": { "min": [ -0.5328348875045776, -0.6751453876495361, -0.46661078929901123, -1.4357197284698486, -1.6041570901870728, -1.6396739482879639, -1.695674180984497, 0.0, -0.5349764823913574, -0.6129767894744873, -0.630035936832428, -1.5825501680374146, -1.5737144947052002, -1.59995436668396, -1.6987709999084473, 0.0 ], "max": [ 0.5524052381515503, 0.6014980673789978, 0.533226490020752, 1.4369105100631714, 1.416433334350586, 1.6517679691314697, 1.6978733539581299, 1.0, 0.5767701268196106, 0.7269622087478638, 0.5439437627792358, 1.5717185735702515, 1.501890778541565, 1.5951886177062988, 1.6993821859359741, 1.0 ], "mean": [ 0.0002917619713116437, -8.328638796228915e-05, -3.973092680098489e-05, -0.00022947287652641535, 0.0004233129438944161, -0.00016446493100374937, -6.72894821036607e-05, 0.8180310130119324, 0.0018554184352979064, 0.0005692066042684019, 0.00015964815975166857, 0.0006134677096270025, 0.0018248003907501698, 0.0008550587808713317, -0.0003184200031682849, 0.8016522526741028 ], "std": [ 0.053355004638433456, 0.052305445075035095, 0.05069137364625931, 0.04718228057026863, 0.09464241564273834, 0.06465157121419907, 0.04026436805725098, 0.3314450681209564, 0.058020226657390594, 0.06724438816308975, 0.056964434683322906, 0.06037234887480736, 0.10152360796928406, 0.06795728951692581, 0.05139721557497978, 0.3505825400352478 ], "count": [ 7668378650 ] }, "robot_0_state": { "min": [ -0.11862096935510635, -0.5676758885383606, -0.1848101168870926, -0.7057750225067139, -0.7040443420410156, -0.7070769667625427, -0.707090437412262, 0.0 ], "max": [ 0.9247521162033081, 0.7879078984260559, 0.5517377853393555, 0.8879699110984802, 0.9300415515899658, 0.9665517210960388, 1.0, 1.0 ], "mean": [ 0.3798789381980896, -0.017069583758711815, 0.15297211706638336, -0.02072935178875923, 0.09152553975582123, -0.07558321207761765, 0.9635263681411743, 0.8332995772361755 ], "std": [ 0.09498082101345062, 0.09347473829984665, 0.06553445011377335, 0.09289687126874924, 0.15159957110881805, 0.14371447265148163, 0.06950893998146057, 0.32139238715171814 ], "count": [ 168425322 ] }, "observation.images.robot_0_image": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.26049654468919237 ] ], [ [ 0.2623465223391655 ] ], [ [ 0.2504924847723742 ] ] ], "std": [ [ [ 0.25789345883565323 ] ], [ [ 0.25826680104331473 ] ], [ [ 0.25823069112416985 ] ] ], "count": [ 168311 ] }, "observation.images.robot_1_image": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2605257413373798 ] ], [ [ 0.2627915920301125 ] ], [ [ 0.2519133462926359 ] ] ], "std": [ [ [ 0.25542473771335256 ] ], [ [ 0.2560373863508628 ] ], [ [ 0.25649824317117065 ] ] ], "count": [ 168311 ] } }, "ARX Lift-2": { "head_camera_intrinsics": { "min": [ 323.3450012207031, 323.1700134277344, 319.54998779296875, 180.0 ], "max": [ 323.5199890136719, 323.3450012207031, 320.0, 182.17999267578125 ], "mean": [ 323.3477478027344, 323.34210205078125, 319.6506042480469, 181.69346618652344 ], "std": [ 0.21650634706020355, 0.3186887204647064, 0.0, 0.9142961502075195 ], "count": [ 147679934 ] }, "images.rgb.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.47932605716912363 ] ], [ [ 0.4447743821760716 ] ], [ [ 0.3759621978276251 ] ] ], "std": [ [ [ 0.28567523630394454 ] ], [ [ 0.28924888958690226 ] ], [ [ 0.2931696221745316 ] ] ], "count": [ 45693 ] }, "states.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.06810848414897919 ], "std": [ 0.03135671094059944 ], "count": [ 147679934 ] }, "states.right_joint.position": { "min": [ -2.433427095413208, -0.11033768206834793, -2.576958417892456, -1.7604341506958008, -2.272326946258545, -3.1400017738342285 ], "max": [ 3.141601085662842, 3.6690542697906494, 3.3177499771118164, 1.7026290893554688, 1.9559606313705444, 2.6671013832092285 ], "mean": [ 0.063023641705513, 0.9377689957618713, 0.626068651676178, -0.1627202332019806, -0.02748851664364338, 0.02648027613759041 ], "std": [ 0.23761917650699615, 1.082403302192688, 0.7993808388710022, 0.5013625621795654, 0.28076547384262085, 0.43004271388053894 ], "count": [ 147679934 ] }, "actions.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.06756699085235596 ], "std": [ 0.031498413532972336 ], "count": [ 6840856200 ] }, "master_actions.right_joint.position": { "min": [ -2.433427095413208, -0.19310736656188965, -2.576892852783203, -1.7604341506958008, -1.6745227575302124, -3.1400017738342285 ], "max": [ 3.141601085662842, 3.6686854362487793, 3.240037679672241, 1.7025258541107178, 1.6726367473602295, 2.6697030067443848 ], "mean": [ 0.06313386559486389, 0.9389059543609619, 0.6267677545547485, -0.1628439724445343, -0.027402685955166817, 0.026539340615272522 ], "std": [ 0.23773272335529327, 1.08279550075531, 0.799610435962677, 0.5016767382621765, 0.28088119626045227, 0.43028369545936584 ], "count": [ 147679934 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 63.29999923706055 ], "mean": [ 14.466641426086426 ], "std": [ 10.843647956848145 ], "count": [ 147679934 ] }, "states.left_ee_to_robot_pose": { "min": [ -0.3685411214828491, -0.3074118494987488, 0.20083193480968475, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.7977994680404663, 0.7660654187202454, 1.4119528532028198, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.37921449542045593, 0.22267520427703857, 0.833259642124176, 0.8951554298400879, 0.0026822942309081554, 0.19910141825675964, -0.039112623780965805 ], "std": [ 0.15076321363449097, 0.08737567812204361, 0.09732579439878464, 0.18118837475776672, 0.16087107360363007, 0.2734629809856415, 0.15500938892364502 ], "count": [ 147679934 ] }, "states.right_ee_to_right_armbase_pose": { "min": [ -0.5369827151298523, -0.5200366377830505, -0.3508318364620209, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.6303129196166992, 0.5827534794807434, 0.7142120599746704, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.21567612886428833, 0.02339416928589344, 0.14898039400577545, 0.8961175680160522, 0.014015894383192062, 0.20620062947273254, 0.025152387097477913 ], "std": [ 0.14881311357021332, 0.08563179522752762, 0.07242871075868607, 0.18113934993743896, 0.15512174367904663, 0.2713707387447357, 0.1520179957151413 ], "count": [ 147679934 ] }, "states.left_ee_to_left_armbase_pose": { "min": [ -0.5315712690353394, -0.5558319091796875, -0.36611708998680115, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.6347693204879761, 0.5176453590393066, 0.7179527282714844, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.21618524193763733, -0.025744935497641563, 0.14670056104660034, 0.8951554298400879, 0.0026822942309081554, 0.19910141825675964, -0.039112623780965805 ], "std": [ 0.15076376497745514, 0.08737543225288391, 0.07332786917686462, 0.18118837475776672, 0.16087107360363007, 0.2734629809856415, 0.15500938892364502 ], "count": [ 147679934 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 1899.0 ], "mean": [ 433.9995422363281 ], "std": [ 325.3087158203125 ], "count": [ 147679934 ] }, "actions.left_joint.position": { "min": [ -5.24058198928833, -3.7372961044311523, -3.3560538291931152, -2.7898712158203125, -3.452683687210083, -3.133542537689209 ], "max": [ 3.663785696029663, 3.8059046268463135, 3.355672597885132, 3.034261703491211, 3.626187324523926, 3.685375452041626 ], "mean": [ -0.003088783472776413, 0.03959015756845474, 0.025579003617167473, -0.002687626052647829, 0.0038672469090670347, -0.002039727522060275 ], "std": [ 0.10593491047620773, 0.3460845649242401, 0.26728561520576477, 0.20266008377075195, 0.10659521818161011, 0.17861780524253845 ], "count": [ 6840856200 ] }, "master_actions.right_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.7224467396736145 ], "std": [ 0.4476013779640198 ], "count": [ 147679934 ] }, "master_actions.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.06809263676404953 ], "std": [ 0.03136569634079933 ], "count": [ 147679934 ] }, "actions.right_joint.position": { "min": [ -3.0625760555267334, -3.7364399433135986, -3.3476176261901855, -3.3434104919433594, -2.3050994873046875, -3.468447685241699 ], "max": [ 2.172114610671997, 3.769054412841797, 3.377957582473755, 2.6458330154418945, 2.2961597442626953, 2.6485695838928223 ], "mean": [ 0.0038591877091675997, 0.03231297805905342, 0.022293727844953537, -0.0044085923582315445, -0.00046205363469198346, 0.002747349441051483 ], "std": [ 0.10169980674982071, 0.3506733775138855, 0.2686273753643036, 0.20675678551197052, 0.1265621781349182, 0.18071690201759338 ], "count": [ 6840856200 ] }, "actions.left_tcp_to_left_armbase_pose": { "min": [ -0.6652623414993286, -0.6585085391998291, -0.5088384747505188, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.7963134050369263, 0.6239452958106995, 0.8783523440361023, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.332624614238739, -0.03825584799051285, 0.09570864588022232, 0.8950139880180359, 0.002669443842023611, 0.19931547343730927, -0.03920330852270126 ], "std": [ 0.11310188472270966, 0.102302685379982, 0.11762992292642593, 0.18129278719425201, 0.1609821617603302, 0.2735128402709961, 0.15520259737968445 ], "count": [ 147679934 ] }, "states.right_ee_to_robot_pose": { "min": [ -0.37395259737968445, -0.7684566974639893, 0.2121126800775528, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.7933430671691895, 0.3343333899974823, 1.4082123041152954, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.37870538234710693, -0.22502592206001282, 0.8355391621589661, 0.8961175680160522, 0.014015894383192062, 0.20620062947273254, 0.025152387097477913 ], "std": [ 0.14881367981433868, 0.08563145250082016, 0.09543588012456894, 0.18113934993743896, 0.15512174367904663, 0.2713707387447357, 0.1520179957151413 ], "count": [ 147679934 ] }, "images.rgb.hand_right": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.41129222643762503 ] ], [ [ 0.3768401038316389 ] ], [ [ 0.3138523921648372 ] ] ], "std": [ [ [ 0.28025618732720753 ] ], [ [ 0.28030704497953796 ] ], [ [ 0.2772108964082773 ] ] ], "count": [ 45693 ] }, "index": { "min": [ 0.0 ], "max": [ 6781600.0 ], "mean": [ 1181889.875 ], "std": [ 1415242.625 ], "count": [ 147679934 ] }, "states.left_joint.position": { "min": [ -2.0939836502075195, -0.1233576089143753, -2.1006338596343994, -1.804902195930481, -3.6711466312408447, -2.0950608253479004 ], "max": [ 3.146616220474243, 3.682547092437744, 3.2615432739257812, 1.8157877922058105, 2.167360782623291, 2.247169017791748 ], "mean": [ -0.06574895977973938, 0.9494407176971436, 0.6285032033920288, -0.14491385221481323, 0.05337907373905182, -0.0037050186656415462 ], "std": [ 0.24781419336795807, 1.0957818031311035, 0.8071321845054626, 0.5129067897796631, 0.29629865288734436, 0.4467441439628601 ], "count": [ 147679934 ] }, "head_camera_to_robot_extrinsics": { "min": [ -2.452223539352417, -0.10302558541297913, 0.49500998854637146, -0.3850175142288208, -0.6792880296707153, -0.6790745258331299, -0.3671068549156189 ], "max": [ 1.6400705575942993, 0.09258240461349487, 1.0147160291671753, 0.3667440414428711, 0.7226678133010864, 0.7227897047996521, 0.3385331928730011 ], "mean": [ 0.32718509435653687, -0.006434895563870668, 0.9481419920921326, -0.056613728404045105, 0.15998275578022003, -0.14404705166816711, 0.05657392740249634 ], "std": [ 0.018291616812348366, 0.014892139472067356, 0.05987023189663887, 0.2494390308856964, 0.639469563961029, 0.6433432102203369, 0.24943605065345764 ], "count": [ 147679934 ] }, "master_actions.left_joint.position": { "min": [ -1.9458982944488525, -0.2289235144853592, -2.1006338596343994, -1.7146612405776978, -1.6741784811019897, -2.362476348876953 ], "max": [ 3.1415998935699463, 3.665095567703247, 3.2400662899017334, 1.6721867322921753, 1.6716519594192505, 2.247169017791748 ], "mean": [ -0.0658436268568039, 0.9509108066558838, 0.6293337941169739, -0.1449430286884308, 0.05362527817487717, -0.0037448955699801445 ], "std": [ 0.24798583984375, 1.09624183177948, 0.8073740601539612, 0.5134552121162415, 0.2968553900718689, 0.44712069630622864 ], "count": [ 147679934 ] }, "actions.left_tcp_to_robot_pose": { "min": [ -0.5022321939468384, -0.410088449716568, 0.09788703918457031, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.9593435525894165, 0.8723653554916382, 1.5723525285720825, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.49565377831459045, 0.21016445755958557, 0.7822680473327637, 0.8950139880180359, 0.002669443842023611, 0.19931547343730927, -0.03920330852270126 ], "std": [ 0.11310247331857681, 0.10230260342359543, 0.13518227636814117, 0.18129278719425201, 0.1609821617603302, 0.2735128402709961, 0.15520259737968445 ], "count": [ 147679934 ] }, "hand_right_camera_intrinsics": { "min": [ 433.635009765625, 433.3800048828125, 320.0, 219.14999389648438 ], "max": [ 488.52001953125, 488.52001953125, 323.92999267578125, 243.13999938964844 ], "mean": [ 433.6979675292969, 433.689697265625, 322.1686096191406, 242.4133758544922 ], "std": [ 1.794087529182434, 1.8071039915084839, 1.1524430513381958, 1.5360257625579834 ], "count": [ 147679934 ] }, "hand_left_camera_intrinsics": { "min": [ 433.635009765625, 433.3800048828125, 320.0, 219.14999389648438 ], "max": [ 488.52001953125, 488.52001953125, 323.92999267578125, 243.13999938964844 ], "mean": [ 433.6979675292969, 433.689697265625, 322.1686096191406, 242.4133758544922 ], "std": [ 1.794087529182434, 1.8071039915084839, 1.1524430513381958, 1.5360257625579834 ], "count": [ 147679934 ] }, "actions.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.07029862701892853 ], "std": [ 0.029859106987714767 ], "count": [ 6840856200 ] }, "states.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.0705263540148735 ], "std": [ 0.02982553467154503 ], "count": [ 147679934 ] }, "states.right_tcp_to_right_armbase_pose": { "min": [ -0.6655531525611877, -0.6780331134796143, -0.46268099546432495, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.7859275341033936, 0.664831817150116, 0.8729659914970398, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.33203768730163574, 0.03214750811457634, 0.0965580940246582, 0.8961175680160522, 0.014015894383192062, 0.20620062947273254, 0.025152387097477913 ], "std": [ 0.10843795537948608, 0.10096437484025955, 0.11651137471199036, 0.18113934993743896, 0.15512174367904663, 0.2713707387447357, 0.1520179957151413 ], "count": [ 147679934 ] }, "states.robot_to_env_pose": { "min": [ -0.499983012676239, -1.3284146785736084, -0.2975030243396759, -0.7071067690849304, 0.0, 0.0, 0.0 ], "max": [ 0.5, 0.7674832940101624, 0.5689384341239929, 1.0, 0.0, 0.0, 0.7071067690849304 ], "mean": [ -0.04923079162836075, -0.576423168182373, 0.26962465047836304, 0.7176827192306519, 0.0, 0.0, 0.5493021607398987 ], "std": [ 0.23815089464187622, 0.4507104158401489, 0.1618039309978485, 0.31066998839378357, 0.0, 0.0, 0.2944187521934509 ], "count": [ 147679934 ] }, "states.left_tcp_to_left_armbase_pose": { "min": [ -0.6652623414993286, -0.6585085391998291, -0.5088384747505188, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.7963134050369263, 0.6239452958106995, 0.8783523440361023, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.3325216770172119, -0.038190361112356186, 0.09579436480998993, 0.8951554298400879, 0.0026822942309081554, 0.19910141825675964, -0.039112623780965805 ], "std": [ 0.11304933577775955, 0.10224085301160812, 0.11761536449193954, 0.18118837475776672, 0.16087107360363007, 0.2734629809856415, 0.15500938892364502 ], "count": [ 147679934 ] }, "actions.left_ee_to_left_armbase_pose": { "min": [ -0.5315712690353394, -0.5558319091796875, -0.36611708998680115, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.6347693204879761, 0.5176453590393066, 0.7179527282714844, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.21634618937969208, -0.02578619308769703, 0.14666788280010223, 0.8950139880180359, 0.002669443842023611, 0.19931547343730927, -0.03920330852270126 ], "std": [ 0.1508052796125412, 0.08744195848703384, 0.07335513085126877, 0.18129278719425201, 0.1609821617603302, 0.2735128402709961, 0.15520259737968445 ], "count": [ 147679934 ] }, "actions.left_ee_to_robot_pose": { "min": [ -0.3685411214828491, -0.3074118494987488, 0.20083193480968475, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.7977994680404663, 0.7660654187202454, 1.4119528532028198, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.37937527894973755, 0.2226339727640152, 0.83322674036026, 0.8950139880180359, 0.002669443842023611, 0.19931547343730927, -0.03920330852270126 ], "std": [ 0.15080545842647552, 0.08744220435619354, 0.09734845161437988, 0.18129278719425201, 0.1609821617603302, 0.2735128402709961, 0.15520259737968445 ], "count": [ 147679934 ] }, "hand_left_camera_to_robot_extrinsics": { "min": [ -2.4919137954711914, -0.39783573150634766, 0.08912346512079239, -0.7059761881828308, -0.7070971727371216, -0.7071017622947693, -0.7003536820411682 ], "max": [ 1.6003830432891846, 0.852268397808075, 1.5199809074401855, 0.9998583197593689, 0.9999294281005859, 0.9999992251396179, 0.9828557372093201 ], "mean": [ 0.454216867685318, 0.22402821481227875, 0.8681885600090027, 0.036229707300662994, -0.09680615365505219, 0.23266637325286865, -0.029355071485042572 ], "std": [ 0.15497180819511414, 0.097525455057621, 0.12888012826442719, 0.2921854853630066, 0.6119682192802429, 0.6275736093521118, 0.283891499042511 ], "count": [ 147679934 ] }, "actions.right_ee_to_robot_pose": { "min": [ -0.37395259737968445, -0.7684566974639893, 0.2121126800775528, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.7933430671691895, 0.3343333899974823, 1.4082123041152954, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.37883785367012024, -0.2249823957681656, 0.8355230689048767, 0.8960263729095459, 0.014029763638973236, 0.20638230443000793, 0.025172749534249306 ], "std": [ 0.1488540768623352, 0.08568918704986572, 0.09544899314641953, 0.18119429051876068, 0.15520231425762177, 0.27140936255455017, 0.1520872414112091 ], "count": [ 147679934 ] }, "actions.right_ee_to_right_armbase_pose": { "min": [ -0.5369827151298523, -0.5200366377830505, -0.3508318364620209, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.6303129196166992, 0.5827534794807434, 0.7142120599746704, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.21580860018730164, 0.023437660187482834, 0.148964062333107, 0.8960263729095459, 0.014029763638973236, 0.20638230443000793, 0.025172749534249306 ], "std": [ 0.14885373413562775, 0.085689477622509, 0.07244645804166794, 0.18119429051876068, 0.15520231425762177, 0.27140936255455017, 0.1520872414112091 ], "count": [ 147679934 ] }, "hand_right_camera_to_robot_extrinsics": { "min": [ -2.3980712890625, -0.859887421131134, -0.053777895867824554, -0.705839991569519, -0.7070988416671753, -0.7070915699005127, -0.6977725625038147 ], "max": [ 1.7018749713897705, 0.40899232029914856, 1.4956042766571045, 0.9996465444564819, 0.999971866607666, 0.9999797344207764, 0.994265615940094 ], "mean": [ 0.4535411298274994, -0.2114783227443695, 0.8703423738479614, -0.00416316045448184, 0.0658869594335556, 0.0677575096487999, -0.0005551896756514907 ], "std": [ 0.15302427113056183, 0.09436384588479996, 0.1263141632080078, 0.28463494777679443, 0.6552554965019226, 0.6302881836891174, 0.28880828619003296 ], "count": [ 147679934 ] }, "actions.right_tcp_to_right_armbase_pose": { "min": [ -0.6655531525611877, -0.6780331134796143, -0.46268099546432495, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.7859275341033936, 0.664831817150116, 0.8729659914970398, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.3321322500705719, 0.03219843655824661, 0.0964919701218605, 0.8960263729095459, 0.014029763638973236, 0.20638230443000793, 0.025172749534249306 ], "std": [ 0.10848511010408401, 0.10101696848869324, 0.11652640998363495, 0.18119429051876068, 0.15520231425762177, 0.27140936255455017, 0.1520872414112091 ], "count": [ 147679934 ] }, "images.rgb.hand_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4585273656379837 ] ], [ [ 0.42793603499302496 ] ], [ [ 0.35177968743049104 ] ] ], "std": [ [ [ 0.29381716614931674 ] ], [ [ 0.29544242659794073 ] ], [ [ 0.2965681892025767 ] ] ], "count": [ 45693 ] }, "master_actions.left_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.7220489978790283 ], "std": [ 0.44751349091529846 ], "count": [ 147679934 ] }, "states.left_tcp_to_robot_pose": { "min": [ -0.5022321939468384, -0.410088449716568, 0.09788703918457031, -0.7069620490074158, -0.7064285278320312, -0.7069209814071655, -0.7070217132568359 ], "max": [ 0.9593435525894165, 0.8723653554916382, 1.5723525285720825, 1.0, 0.9980663657188416, 0.9873380661010742, 0.9739253520965576 ], "mean": [ 0.4955509603023529, 0.2102298140525818, 0.7823535799980164, 0.8951554298400879, 0.0026822942309081554, 0.19910141825675964, -0.039112623780965805 ], "std": [ 0.11304910480976105, 0.10224100947380066, 0.1351730227470398, 0.18118837475776672, 0.16087107360363007, 0.2734629809856415, 0.15500938892364502 ], "count": [ 147679934 ] }, "actions.right_tcp_to_robot_pose": { "min": [ -0.5025230646133423, -0.9264532327651978, 0.10925088077783585, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.9489576816558838, 0.41641175746917725, 1.56696617603302, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.49516138434410095, -0.21622154116630554, 0.7830510139465332, 0.8960263729095459, 0.014029763638973236, 0.20638230443000793, 0.025172749534249306 ], "std": [ 0.10848645120859146, 0.10101679712533951, 0.13331598043441772, 0.18119429051876068, 0.15520231425762177, 0.27140936255455017, 0.1520872414112091 ], "count": [ 147679934 ] }, "task_index": { "min": [ 0.0 ], "max": [ 4999.0 ], "mean": [ 345.87078857421875 ], "std": [ 997.3897705078125 ], "count": [ 147679934 ] }, "states.right_tcp_to_robot_pose": { "min": [ -0.5025230646133423, -0.9264532327651978, 0.10925088077783585, -0.7070016860961914, -0.7070609927177429, -0.7035565972328186, -0.6975718140602112 ], "max": [ 0.9489576816558838, 0.41641175746917725, 1.56696617603302, 1.0, 0.9996270537376404, 0.9999103546142578, 0.9317286014556885 ], "mean": [ 0.4950670003890991, -0.2162724882364273, 0.7831169962882996, 0.8961175680160522, 0.014015894383192062, 0.20620062947273254, 0.025152387097477913 ], "std": [ 0.10843919217586517, 0.10096423327922821, 0.13330323994159698, 0.18113934993743896, 0.15512174367904663, 0.2713707387447357, 0.1520179957151413 ], "count": [ 147679934 ] }, "master_actions.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.07050586491823196 ], "std": [ 0.029837368056178093 ], "count": [ 147679934 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 6657.0 ], "mean": [ 1252.9080810546875 ], "std": [ 1235.6103515625 ], "count": [ 147679934 ] } }, "AgileX Split Aloha": { "states.left_tcp_to_robot_pose": { "min": [ -0.3458949029445648, -0.4370867609977722, 0.2571527361869812, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 1.1140633821487427, 0.9690123200416565, 1.5338891744613647, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.6356146931648254, 0.26070019602775574, 0.8468101024627686, 0.32451432943344116, 0.5909246206283569, 0.5437784194946289, 0.30270442366600037 ], "std": [ 0.11039247363805771, 0.11563799530267715, 0.21441565454006195, 0.21429961919784546, 0.16602711379528046, 0.18059509992599487, 0.22818759083747864 ], "count": [ 140734002 ] }, "states.left_ee_to_robot_pose": { "min": [ -0.21993345022201538, -0.34681621193885803, 0.377277672290802, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.9812567830085754, 0.8660539984703064, 1.4077553749084473, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.5464370846748352, 0.2675061523914337, 0.902178168296814, 0.32451432943344116, 0.5909246206283569, 0.5437784194946289, 0.30270442366600037 ], "std": [ 0.13819922506809235, 0.10610810667276382, 0.17892909049987793, 0.21429961919784546, 0.16602711379528046, 0.18059509992599487, 0.22818759083747864 ], "count": [ 140734002 ] }, "images.rgb.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.45929228912580644 ] ], [ [ 0.4266916813653789 ] ], [ [ 0.36265680156987146 ] ] ], "std": [ [ [ 0.2791552916757314 ] ], [ [ 0.2805291225756733 ] ], [ [ 0.2892190018016603 ] ] ], "count": [ 45122 ] }, "actions.left_ee_to_robot_pose": { "min": [ -0.21993345022201538, -0.34681621193885803, 0.377277672290802, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.9812567830085754, 0.8660539984703064, 1.4077553749084473, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.5465531945228577, 0.26745644211769104, 0.9021123647689819, 0.3244139850139618, 0.5909926295280457, 0.5437721014022827, 0.30256667733192444 ], "std": [ 0.1382276862859726, 0.10616177320480347, 0.17896923422813416, 0.21433334052562714, 0.16606785356998444, 0.180710569024086, 0.22819946706295013 ], "count": [ 140734002 ] }, "actions.right_tcp_to_robot_pose": { "min": [ -0.08276224136352539, -0.9443843960762024, 0.22606363892555237, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 1.110187292098999, 0.3900037705898285, 1.5281490087509155, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.6366389393806458, -0.2565965950489044, 0.8449745178222656, 0.2983893156051636, 0.5588445067405701, 0.5806004405021667, 0.3240683376789093 ], "std": [ 0.10867878049612045, 0.11281595379114151, 0.216831237077713, 0.22578923404216766, 0.1747896820306778, 0.16678547859191895, 0.2172321379184723 ], "count": [ 140734002 ] }, "master_actions.left_joint.position": { "min": [ -2.625950336456299, -5.382970333099365, -2.7715272903442383, -2.3094537258148193, -3.302025079727173, -3.7266483306884766 ], "max": [ 2.6919326782226562, 3.700263738632202, 0.12066081911325455, 6.226835250854492, 5.262518882751465, 3.2484190464019775 ], "mean": [ -0.1200348362326622, 1.0989480018615723, -0.5779786109924316, -0.013639478944242, 0.1596394181251526, -0.013865401968359947 ], "std": [ 0.3444786071777344, 1.0172981023788452, 0.6221702098846436, 0.4502863585948944, 0.4725092947483063, 0.6330649256706238 ], "count": [ 140734002 ] }, "actions.left_tcp_to_left_armbase_pose": { "min": [ -0.7143740653991699, -0.7430874109268188, -0.3972698152065277, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.7455841898918152, 0.6630117297172546, 0.8811851143836975, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.26799705624580383, -0.04534444212913513, 0.10311410576105118, 0.3244139850139618, 0.5909926295280457, 0.5437721014022827, 0.30256667733192444 ], "std": [ 0.11009510606527328, 0.11522289365530014, 0.16452208161354065, 0.21433334052562714, 0.16606785356998444, 0.180710569024086, 0.22819946706295013 ], "count": [ 140734002 ] }, "hand_left_camera_to_robot_extrinsics": { "min": [ -0.8018622994422913, -1.0332518815994263, 0.2983880043029785, -0.6961328983306885, -0.7071056962013245, -0.7071040272712708, -0.6931412220001221 ], "max": [ 1.070436954498291, 0.9108514189720154, 1.8537685871124268, 0.9936107397079468, 0.999993085861206, 0.9999943375587463, 0.9976373910903931 ], "mean": [ 0.6079003810882568, 0.2617117166519165, 0.9328524470329285, 0.0265186820179224, 0.014265014789998531, 0.14353986084461212, 0.023183956742286682 ], "std": [ 0.14684779942035675, 0.11535324901342392, 0.20967814326286316, 0.28578490018844604, 0.6240138411521912, 0.653717041015625, 0.282027930021286 ], "count": [ 140734002 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 6646.0 ], "mean": [ 1332.9044189453125 ], "std": [ 1229.8201904296875 ], "count": [ 140734002 ] }, "master_actions.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.07978995889425278 ], "std": [ 0.033372439444065094 ], "count": [ 140734002 ] }, "master_actions.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.08216225355863571 ], "std": [ 0.031063687056303024 ], "count": [ 140734002 ] }, "actions.right_ee_to_robot_pose": { "min": [ -0.028216272592544556, -0.8484576940536499, 0.35702934861183167, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.9752058386802673, 0.39043501019477844, 1.4359015226364136, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.5476098656654358, -0.2630399465560913, 0.9010733366012573, 0.2983893156051636, 0.5588445067405701, 0.5806004405021667, 0.3240683376789093 ], "std": [ 0.13652558624744415, 0.10432099550962448, 0.1809653639793396, 0.22578923404216766, 0.1747896820306778, 0.16678547859191895, 0.2172321379184723 ], "count": [ 140734002 ] }, "head_camera_to_robot_extrinsics": { "min": [ -0.4956619143486023, -0.7360379099845886, 0.8527461290359497, -0.35373589396476746, -0.6729691624641418, -0.6734866499900818, -0.3505181670188904 ], "max": [ 0.690803587436676, 0.4635922610759735, 1.53549325466156, 0.35402196645736694, 0.9365448355674744, 0.9364299774169922, 0.3492567539215088 ], "mean": [ 0.38854271173477173, -0.013244584202766418, 1.0048878192901611, 0.15921978652477264, -0.36722904443740845, 0.3901430666446686, -0.15780305862426758 ], "std": [ 0.01891459710896015, 0.017714662477374077, 0.14131926000118256, 0.22139079868793488, 0.5339803099632263, 0.5315985679626465, 0.21431876718997955 ], "count": [ 140734002 ] }, "actions.left_joint.position": { "min": [ -5.350478649139404, -8.205354690551758, -3.8368096351623535, -6.433774948120117, -3.277651071548462, -6.648960113525391 ], "max": [ 5.405672073364258, 3.7001278400421143, 4.175942897796631, 8.183722496032715, 5.875010013580322, 6.395712852478027 ], "mean": [ -0.004583414644002914, 0.029491059482097626, -0.015923069790005684, -0.001089846482500434, 0.0008386849076487124, 0.00036943069426342845 ], "std": [ 0.12760430574417114, 0.28035110235214233, 0.1789143979549408, 0.1734250783920288, 0.15041740238666534, 0.22385387122631073 ], "count": [ 6595178250 ] }, "states.right_joint.position": { "min": [ -2.6449809074401855, -0.0010037191677838564, -3.262512683868408, -5.082755088806152, -1.9580594301223755, -5.020358085632324 ], "max": [ 2.642108678817749, 3.4995715618133545, 0.28915706276893616, 4.08786153793335, 2.636763572692871, 3.8062150478363037 ], "mean": [ 0.12999609112739563, 1.112744688987732, -0.5777208209037781, 0.014927378855645657, 0.1462961733341217, 0.0638803020119667 ], "std": [ 0.34180572628974915, 1.0123240947723389, 0.6097344160079956, 0.4527866840362549, 0.4827812910079956, 0.6512436270713806 ], "count": [ 140734002 ] }, "states.right_tcp_to_right_armbase_pose": { "min": [ -0.45124202966690063, -0.6383848786354065, -0.42664045095443726, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.741707444190979, 0.6221811175346375, 0.8754448890686035, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.26885104179382324, 0.04935375601053238, 0.1014677882194519, 0.2985210716724396, 0.5588188171386719, 0.5805578827857971, 0.32415473461151123 ], "std": [ 0.10828693211078644, 0.11229608207941055, 0.16468586027622223, 0.2257710099220276, 0.1747369021177292, 0.16673901677131653, 0.2171994000673294 ], "count": [ 140734002 ] }, "master_actions.right_joint.position": { "min": [ -2.434485912322998, -0.1285504698753357, -2.697770833969116, -1.838684320449829, -1.438529133796692, -3.152780771255493 ], "max": [ 2.5673346519470215, 3.227501392364502, 0.10000000149011612, 2.0781197547912598, 1.2698651552200317, 3.143770933151245 ], "mean": [ 0.13015668094158173, 1.1138514280319214, -0.5784544348716736, 0.015671491622924805, 0.1458757221698761, 0.06413716077804565 ], "std": [ 0.34204918146133423, 1.0125912427902222, 0.6097834706306458, 0.4529888331890106, 0.48275917768478394, 0.6520413160324097 ], "count": [ 140734002 ] }, "states.right_tcp_to_robot_pose": { "min": [ -0.08276224136352539, -0.9443843960762024, 0.22606363892555237, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 1.110187292098999, 0.3900037705898285, 1.5281490087509155, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.6365596652030945, -0.2566606104373932, 0.8450635671615601, 0.2985210716724396, 0.5588188171386719, 0.5805578827857971, 0.32415473461151123 ], "std": [ 0.10863983631134033, 0.11275418847799301, 0.21679797768592834, 0.2257710099220276, 0.1747369021177292, 0.16673901677131653, 0.2171994000673294 ], "count": [ 140734002 ] }, "images.rgb.hand_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4441868021551884 ] ], [ [ 0.41597173428400175 ] ], [ [ 0.34237166784828515 ] ] ], "std": [ [ [ 0.29067710575918515 ] ], [ [ 0.28972209951677325 ] ], [ [ 0.2933734839385213 ] ] ], "count": [ 45122 ] }, "states.robot_to_env_pose": { "min": [ -0.6499999761581421, -0.9956024289131165, -0.18997018039226532, 0.6501463651657104, 0.0, 0.0, 0.0 ], "max": [ 0.5, 0.0, 1.11270010471344, 1.0, 0.0, 0.0, 0.7598090171813965 ], "mean": [ -0.153135284781456, -0.5970349311828613, 0.3124224543571472, 0.7936331629753113, 0.0, 0.0, 0.49888527393341064 ], "std": [ 0.3460584580898285, 0.3855804204940796, 0.09607596695423126, 0.13318559527397156, 0.0, 0.0, 0.3217467665672302 ], "count": [ 140734002 ] }, "master_actions.left_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.7241345047950745 ], "std": [ 0.4469493329524994 ], "count": [ 140734002 ] }, "states.left_joint.position": { "min": [ -3.2543811798095703, -5.382970333099365, -4.176327705383301, -5.667778968811035, -3.302025079727173, -5.5212812423706055 ], "max": [ 2.934131622314453, 3.700263738632202, 1.7281842231750488, 6.226835250854492, 5.262518882751465, 5.644815444946289 ], "mean": [ -0.11979271471500397, 1.097491979598999, -0.5771632790565491, -0.014600537717342377, 0.1593320369720459, -0.013842573389410973 ], "std": [ 0.3441177010536194, 1.016944408416748, 0.6220349073410034, 0.45014500617980957, 0.4716706871986389, 0.6326843500137329 ], "count": [ 140734002 ] }, "actions.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.0792401060461998 ], "std": [ 0.03353779762983322 ], "count": [ 6595178250 ] }, "states.right_ee_to_robot_pose": { "min": [ -0.028216272592544556, -0.8484576940536499, 0.35702934861183167, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.9752058386802673, 0.39043501019477844, 1.4359015226364136, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.5475029349327087, -0.2630947530269623, 0.9011321067810059, 0.2985210716724396, 0.5588188171386719, 0.5805578827857971, 0.32415473461151123 ], "std": [ 0.13649895787239075, 0.10426505655050278, 0.1809215396642685, 0.2257710099220276, 0.1747369021177292, 0.16673901677131653, 0.2171994000673294 ], "count": [ 140734002 ] }, "actions.left_tcp_to_robot_pose": { "min": [ -0.3458949029445648, -0.4370867609977722, 0.2571527361869812, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 1.1140633821487427, 0.9690123200416565, 1.5338891744613647, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.6357005834579468, 0.2606411278247833, 0.8467095494270325, 0.3244139850139618, 0.5909926295280457, 0.5437721014022827, 0.30256667733192444 ], "std": [ 0.11043605953454971, 0.11569522321224213, 0.21444790065288544, 0.21433334052562714, 0.16606785356998444, 0.180710569024086, 0.22819946706295013 ], "count": [ 140734002 ] }, "states.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.08218322694301605 ], "std": [ 0.031047416850924492 ], "count": [ 140734002 ] }, "task_index": { "min": [ 0.0 ], "max": [ 4999.0 ], "mean": [ 423.9349670410156 ], "std": [ 1091.6944580078125 ], "count": [ 140734002 ] }, "hand_right_camera_to_robot_extrinsics": { "min": [ -0.6905869245529175, -0.8690706491470337, 0.32134535908699036, -0.6513309478759766, -0.7071056962013245, -0.7070999145507812, -0.6609262824058533 ], "max": [ 1.0729882717132568, 0.533940315246582, 1.5637047290802002, 0.9111233353614807, 0.9999918937683105, 0.9999727010726929, 0.947531521320343 ], "mean": [ 0.6030780673027039, -0.26039668917655945, 0.9353480339050293, -0.037186041474342346, 0.216138556599617, -0.06040477752685547, 0.08872044831514359 ], "std": [ 0.14796583354473114, 0.11174508929252625, 0.20933958888053894, 0.2917427122592926, 0.6195893287658691, 0.6282190680503845, 0.2769794762134552 ], "count": [ 140734002 ] }, "head_camera_intrinsics": { "min": [ 323.3450012207031, 323.3450012207031, 319.54998779296875, 180.0 ], "max": [ 323.3450012207031, 323.3450012207031, 320.0, 182.17999267578125 ], "mean": [ 323.344970703125, 323.344970703125, 319.6820373535156, 181.53976440429688 ], "std": [ 0.0, 0.0, 0.33071890473365784, 1.0 ], "count": [ 140734002 ] }, "states.right_ee_to_right_armbase_pose": { "min": [ -0.3966960608959198, -0.542458176612854, -0.29567474126815796, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.6067260503768921, 0.5576760172843933, 0.7405033707618713, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.1797945499420166, 0.042919594794511795, 0.15753614902496338, 0.2985210716724396, 0.5588188171386719, 0.5805578827857971, 0.32415473461151123 ], "std": [ 0.13620012998580933, 0.10375446826219559, 0.11580874025821686, 0.2257710099220276, 0.1747369021177292, 0.16673901677131653, 0.2171994000673294 ], "count": [ 140734002 ] }, "index": { "min": [ 0.0 ], "max": [ 7764545.0 ], "mean": [ 1510573.75 ], "std": [ 1684854.25 ], "count": [ 140734002 ] }, "hand_right_camera_intrinsics": { "min": [ 488.5199890136719, 488.5199890136719, 320.0, 219.14999389648438 ], "max": [ 488.52001953125, 488.52001953125, 323.92999267578125, 240.0 ], "mean": [ 488.52008056640625, 488.52008056640625, 322.77587890625, 225.27333068847656 ], "std": [ 0.0, 0.0, 1.7743836641311646, 9.498149871826172 ], "count": [ 140734002 ] }, "actions.right_tcp_to_right_armbase_pose": { "min": [ -0.45124202966690063, -0.6383848786354065, -0.42664045095443726, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.741707444190979, 0.6221811175346375, 0.8754448890686035, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.2689306139945984, 0.04941776767373085, 0.10137875378131866, 0.2983893156051636, 0.5588445067405701, 0.5806004405021667, 0.3240683376789093 ], "std": [ 0.10832449048757553, 0.11235810816287994, 0.16469065845012665, 0.22578923404216766, 0.1747896820306778, 0.16678547859191895, 0.2172321379184723 ], "count": [ 140734002 ] }, "actions.left_ee_to_left_armbase_pose": { "min": [ -0.5884126424789429, -0.608224630355835, -0.2754264175891876, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.612777590751648, 0.5600533485412598, 0.7476311326026917, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.17884916067123413, -0.038529254496097565, 0.1585167646408081, 0.3244139850139618, 0.5909926295280457, 0.5437721014022827, 0.30256667733192444 ], "std": [ 0.1379464715719223, 0.10564188659191132, 0.11555158346891403, 0.21433334052562714, 0.16606785356998444, 0.180710569024086, 0.22819946706295013 ], "count": [ 140734002 ] }, "images.rgb.hand_right": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4193312113629196 ] ], [ [ 0.3810729839271265 ] ], [ [ 0.3187468330639471 ] ] ], "std": [ [ [ 0.2841136709790627 ] ], [ [ 0.282255425701027 ] ], [ [ 0.28496869997392543 ] ] ], "count": [ 45122 ] }, "states.left_ee_to_left_armbase_pose": { "min": [ -0.5884126424789429, -0.608224630355835, -0.2754264175891876, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.612777590751648, 0.5600533485412598, 0.7476311326026917, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.17873349785804749, -0.03847946971654892, 0.15858249366283417, 0.32451432943344116, 0.5909246206283569, 0.5437784194946289, 0.30270442366600037 ], "std": [ 0.13791625201702118, 0.10558783262968063, 0.11553528159856796, 0.21429961919784546, 0.16602711379528046, 0.18059509992599487, 0.22818759083747864 ], "count": [ 140734002 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 2524.0 ], "mean": [ 510.5065002441406 ], "std": [ 382.5806884765625 ], "count": [ 140734002 ] }, "states.left_tcp_to_left_armbase_pose": { "min": [ -0.7143740653991699, -0.7430874109268188, -0.3972698152065277, -0.6810635924339294, -0.7065035104751587, -0.7066988945007324, -0.7018314003944397 ], "max": [ 0.7455841898918152, 0.6630117297172546, 0.8811851143836975, 0.9908026456832886, 0.9999997615814209, 0.9999973177909851, 0.9974037408828735 ], "mean": [ 0.26791107654571533, -0.04528561979532242, 0.1032145693898201, 0.32451432943344116, 0.5909246206283569, 0.5437784194946289, 0.30270442366600037 ], "std": [ 0.11005232483148575, 0.11516595631837845, 0.16451697051525116, 0.21429961919784546, 0.16602711379528046, 0.18059509992599487, 0.22818759083747864 ], "count": [ 140734002 ] }, "master_actions.right_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.7129793167114258 ], "std": [ 0.4523712992668152 ], "count": [ 140734002 ] }, "states.right_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.079810231924057 ], "std": [ 0.033357903361320496 ], "count": [ 140734002 ] }, "actions.left_gripper.position": { "min": [ 0.0 ], "max": [ 0.10000000149011612 ], "mean": [ 0.08181704580783844 ], "std": [ 0.031117508187890053 ], "count": [ 6595178250 ] }, "hand_left_camera_intrinsics": { "min": [ 488.5199890136719, 488.5199890136719, 320.0, 219.14999389648438 ], "max": [ 488.52001953125, 488.52001953125, 323.92999267578125, 240.0 ], "mean": [ 488.52008056640625, 488.52008056640625, 322.77587890625, 225.27333068847656 ], "std": [ 0.0, 0.0, 1.7743836641311646, 9.498149871826172 ], "count": [ 140734002 ] }, "actions.right_joint.position": { "min": [ -3.535360097885132, -3.139975070953369, -3.5516698360443115, -6.497945308685303, -2.046909809112549, -5.885282516479492 ], "max": [ 3.6048355102539062, 2.503293037414551, 2.6970412731170654, 5.2901997566223145, 2.8236117362976074, 5.798579216003418 ], "mean": [ 0.006119924131780863, 0.027109887450933456, -0.015277665108442307, 0.0007048075785860419, 0.000294084835331887, 0.0040274010971188545 ], "std": [ 0.12368004769086838, 0.28108057379722595, 0.17792865633964539, 0.16638171672821045, 0.1522567868232727, 0.22259116172790527 ], "count": [ 6595178250 ] }, "actions.right_ee_to_right_armbase_pose": { "min": [ -0.3966960608959198, -0.542458176612854, -0.29567474126815796, -0.6883538365364075, -0.7069259285926819, -0.7067217826843262, -0.639345109462738 ], "max": [ 0.6067260503768921, 0.5576760172843933, 0.7405033707618713, 0.9742906093597412, 0.9999997615814209, 0.9999986886978149, 0.9234237670898438 ], "mean": [ 0.17990116775035858, 0.042974356561899185, 0.15747743844985962, 0.2983893156051636, 0.5588445067405701, 0.5806004405021667, 0.3240683376789093 ], "std": [ 0.1362268328666687, 0.10381022095680237, 0.11582545191049576, 0.22578923404216766, 0.1747896820306778, 0.16678547859191895, 0.2172321379184723 ], "count": [ 140734002 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 84.13333129882812 ], "mean": [ 17.016887664794922 ], "std": [ 12.75267219543457 ], "count": [ 140734002 ] } }, "r1lite": { "observation.state.torso": { "min": [ -1.3646999597549438, 0.0021286357659846544, -0.6998000144958496, 0.0 ], "max": [ 0.40950000286102295, 2.610599994659424, 1.5721999406814575, 0.0 ], "mean": [ -0.7528386116027832, 1.846501350402832, 0.8288441896438599, 0.0 ], "std": [ 0.324745774269104, 0.62168288230896, 0.375042200088501, 0.0 ], "count": [ 24955715 ] }, "quality_index": { "min": [ 0.0 ], "max": [ 138.0 ], "mean": [ 3.8923211097717285 ], "std": [ 3.7888870239257812 ], "count": [ 24955715 ] }, "observation.state.right_arm.velocities": { "min": [ -3.4133334159851074, -2.804689884185791, -4.058213710784912, -7.850410461425781, -3.5305492877960205, -3.7301387786865234 ], "max": [ 3.418898105621338, 2.7522342205047607, 3.2253143787384033, 33.0, 3.6035923957824707, 3.940636157989502 ], "mean": [ -0.004383718129247427, -0.0023524698335677385, -0.004442117642611265, 0.0022155847400426865, -0.00043171801371499896, 0.0003148799587506801 ], "std": [ 0.15448066592216492, 0.31483954191207886, 0.25518879294395447, 0.35339590907096863, 0.18543203175067902, 0.18118934333324432 ], "count": [ 24955715 ] }, "observation.images.head_rgb": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.310406791308353 ] ], [ [ 0.3364758096137517 ] ], [ [ 0.3575578778045528 ] ] ], "std": [ [ [ 0.12998542428666487 ] ], [ [ 0.14478040143408535 ] ], [ [ 0.1418868790643692 ] ] ], "count": [ 13499 ] }, "observation.state.chassis.imu": { "min": [ -0.918112576007843, -0.9241511821746826, -0.9999881386756897, -0.9999999403953552, -31.611072540283203, -26.975093841552734, -46.265960693359375, -2.481032609939575, -1.2786251306533813, -2.431514263153076 ], "max": [ 0.9255990386009216, 0.9234611392021179, 1.0, 1.0, 43.420570373535156, 26.794357299804688, 45.619468688964844, 0.7760823369026184, 0.8708411455154419, 0.0 ], "mean": [ 0.017793025821447372, 0.001063281437382102, 0.12925782799720764, 0.04194711148738861, -0.00017003082029987127, 0.000196883556782268, -0.00019624839478638023, -0.0028441085014492273, 0.0009831029456108809, -0.8953841328620911 ], "std": [ 0.15124964714050293, 0.1609652191400528, 0.5854403376579285, 0.7679119110107422, 0.2801362872123718, 0.24376030266284943, 3.496213436126709, 0.013456371612846851, 0.011680731549859047, 0.3082411587238312 ], "count": [ 24955715 ] }, "observation.images.left_wrist_rgb": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.42204212292575205 ] ], [ [ 0.4228723265791818 ] ], [ [ 0.41196912944088027 ] ] ], "std": [ [ [ 0.16584299197166966 ] ], [ [ 0.17176771732070517 ] ], [ [ 0.18506052262560035 ] ] ], "count": [ 13499 ] }, "action.right_gripper": { "min": [ 0.0 ], "max": [ 100.0 ], "mean": [ 12.788476943969727 ], "std": [ 33.34691619873047 ], "count": [ 1201039750 ] }, "action.left_gripper": { "min": [ 0.0 ], "max": [ 100.0 ], "mean": [ 9.299878120422363 ], "std": [ 29.00661849975586 ], "count": [ 1201039750 ] }, "observation.state.right_ee_pose": { "min": [ -0.3939395844936371, -0.8794258832931519, -0.010399936698377132, -0.8668333292007446, -0.7848459482192993, -0.8395054340362549, -0.501447856426239 ], "max": [ 0.557729184627533, 0.19289010763168335, 0.8154382109642029, 0.9797406792640686, 0.9156375527381897, 0.8963977098464966, 1.0 ], "mean": [ 0.11657500267028809, -0.28982818126678467, 0.3980674147605896, 0.011398512870073318, 0.08967356383800507, 0.06060345098376274, 0.9470707774162292 ], "std": [ 0.16283421218395233, 0.09806319326162338, 0.09267628937959671, 0.15804804861545563, 0.17163042724132538, 0.16247156262397766, 0.10188155621290207 ], "count": [ 24955715 ] }, "action.torso.velocities": { "min": [ -0.15000000596046448, 0.0, -0.15000000596046448, 0.0, -0.20000000298023224, 0.0 ], "max": [ 0.15000000596046448, 0.0, 0.15000000596046448, 0.0, 0.20000000298023224, 0.0 ], "mean": [ -1.4325205484055914e-05, 0.0, -0.0002549121854826808, 0.0, 0.00010005346848629415, 0.0 ], "std": [ 0.00512965302914381, 0.0, 0.018613016232848167, 0.0, 0.04117102548480034, 0.0 ], "count": [ 24955715 ] }, "observation.state.left_arm": { "min": [ -1.8894253969192505, -0.035957448184490204, -0.020638298243284225, -1.5852957963943481, -1.573191523551941, -2.7455317974090576 ], "max": [ 2.4059574604034424, 3.068297863006592, 2.07808518409729, 1.5297871828079224, 1.559148907661438, 2.864255428314209 ], "mean": [ -0.13410495221614838, 0.6588293313980103, 0.4278900623321533, -0.0953441932797432, -0.022954823449254036, -0.03137696534395218 ], "std": [ 0.29452604055404663, 0.8863409161567688, 0.61688232421875, 0.44199320673942566, 0.2700335383415222, 0.32321760058403015 ], "count": [ 24955715 ] }, "observation.state.left_gripper": { "min": [ -0.791563868522644 ], "max": [ 105.33026123046875 ], "mean": [ 13.609153747558594 ], "std": [ 25.46707534790039 ], "count": [ 24955715 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 11362.0 ], "mean": [ 951.3330688476562 ], "std": [ 904.6624145507812 ], "count": [ 24955715 ] }, "observation.images.head_right_rgb": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.3038281707424143 ] ], [ [ 0.32925699878357806 ] ], [ [ 0.35136646749513106 ] ] ], "std": [ [ [ 0.1558577229567978 ] ], [ [ 0.16961223496704358 ] ], [ [ 0.15863366590492434 ] ] ], "count": [ 13499 ] }, "coarse_task_index": { "min": [ 0.0 ], "max": [ 35.0 ], "mean": [ 3.995201826095581 ], "std": [ 4.931689262390137 ], "count": [ 24955715 ] }, "observation.state.left_arm.velocities": { "min": [ -3.562807559967041, -4.085140228271484, -3.717001438140869, -3.7975144386291504, -5.560959339141846, -3.7200992107391357 ], "max": [ 2.815143585205078, 3.3880796432495117, 3.300410509109497, 33.0, 14.246735572814941, 4.6829657554626465 ], "mean": [ -0.004290922079235315, -0.0023432099260389805, -0.004320614971220493, 0.0012033687671646476, -0.0005021674442104995, 0.0005878403899259865 ], "std": [ 0.13006789982318878, 0.2548893988132477, 0.20746059715747833, 0.26477867364883423, 0.160893052816391, 0.15912918746471405 ], "count": [ 24955715 ] }, "observation.state.right_gripper": { "min": [ -0.5697948932647705 ], "max": [ 103.20832824707031 ], "mean": [ 17.718637466430664 ], "std": [ 29.304967880249023 ], "count": [ 24955715 ] }, "observation.state.right_arm": { "min": [ -2.7612764835357666, -0.02638297900557518, -0.04021276533603668, -1.594680905342102, -1.5360530614852905, -2.785531997680664 ], "max": [ 1.908510684967041, 3.0778722763061523, 2.026808500289917, 1.5695744752883911, 1.556595802307129, 2.7854864597320557 ], "mean": [ 0.14612187445163727, 0.8654499053955078, 0.5777717232704163, -0.09977196156978607, 0.010314477607607841, 0.03967484086751938 ], "std": [ 0.3207980692386627, 0.9255075454711914, 0.6633052229881287, 0.48605525493621826, 0.29837748408317566, 0.38049107789993286 ], "count": [ 24955715 ] }, "observation.images.right_wrist_rgb": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.3861235910761403 ] ], [ [ 0.4160659668205874 ] ], [ [ 0.4129276805947542 ] ] ], "std": [ [ [ 0.24059274759651372 ] ], [ [ 0.24003254513506064 ] ], [ [ 0.2447977959134732 ] ] ], "count": [ 13499 ] }, "observation.state.torso.velocities": { "min": [ -0.7815655469894409, -0.6956666707992554, -0.7689262628555298, 0.0 ], "max": [ 0.7671763896942139, 0.7543333172798157, 0.7350000143051147, 0.0 ], "mean": [ -0.002247136551886797, -0.002590067218989134, -0.002386949025094509, 0.0 ], "std": [ 0.025745052844285965, 0.05157036706805229, 0.051572464406490326, 0.0 ], "count": [ 24955715 ] }, "coarse_quality_index": { "min": [ 0.0 ], "max": [ 14.0 ], "mean": [ 3.6030168533325195 ], "std": [ 3.0026111602783203 ], "count": [ 24955715 ] }, "index": { "min": [ 0.0 ], "max": [ 590730.0 ], "mean": [ 82172.84375 ], "std": [ 78075.4921875 ], "count": [ 24955715 ] }, "observation.state.left_ee_pose": { "min": [ -0.39218419790267944, -0.19763776659965515, -0.0020595176611095667, -0.8536570072174072, -0.7283123135566711, -0.862666666507721, -0.5002913475036621 ], "max": [ 0.555766761302948, 0.8684892654418945, 0.811620831489563, 0.9903586506843567, 0.8518361449241638, 0.9111840724945068, 1.0 ], "mean": [ 0.08045100420713425, 0.29365622997283936, 0.3817548155784607, -0.00594243174418807, 0.06274870783090591, -0.06416986137628555, 0.9576067328453064 ], "std": [ 0.15027235448360443, 0.09032547473907471, 0.08393698930740356, 0.1335635930299759, 0.15515339374542236, 0.16158992052078247, 0.08291656523942947 ], "count": [ 24955715 ] }, "action.right_arm": { "min": [ -2.601111888885498, -3.0785999298095703, -4.053196907043457, -3.0836987495422363, -3.360732316970825, -4.269698143005371 ], "max": [ 2.732531785964966, 3.066685199737549, 0.558368980884552, 3.2521560192108154, 2.7173075675964355, 4.370365142822266 ], "mean": [ 0.00014281427138485014, -0.0034741421695798635, -1.1880712509155273, -0.0006368600879795849, -0.000552683137357235, 0.0005258810706436634 ], "std": [ 0.19903713464736938, 0.5220126509666443, 1.2852842807769775, 0.3087488114833832, 0.18766407668590546, 0.2176390141248703 ], "count": [ 1201039750 ] }, "action.left_arm": { "min": [ -6.2663116455078125, -4.2606282234191895, -4.155095100402832, -3.1091203689575195, -2.2109735012054443, -4.382477760314941 ], "max": [ 2.4803993701934814, 3.056798219680786, 1.5569905042648315, 3.1194212436676025, 3.079810857772827, 3.8810434341430664 ], "mean": [ 0.0005016275099478662, -0.0027281250804662704, -0.8814226984977722, -0.0003191337164025754, 0.00039587481296621263, 0.00027498078998178244 ], "std": [ 0.16775336861610413, 0.4324590861797333, 1.2116495370864868, 0.2602379024028778, 0.15734919905662537, 0.1795528680086136 ], "count": [ 1201039750 ] }, "action.chassis.velocities": { "min": [ -0.20000000298023224, -0.20000000298023224, -0.6000000238418579 ], "max": [ 0.20000000298023224, 0.20000000298023224, 0.6000000238418579 ], "mean": [ 0.0006922492175363004, 4.623676068149507e-05, -3.847648258670233e-05 ], "std": [ 0.02722763642668724, 0.02903536707162857, 0.06940367817878723 ], "count": [ 24955715 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 757.4666748046875 ], "mean": [ 63.42218780517578 ], "std": [ 60.31088638305664 ], "count": [ 24955715 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 753.0 ], "mean": [ 50.636173248291016 ], "std": [ 57.10096740722656 ], "count": [ 24955715 ] }, "task_index": { "min": [ 0.0 ], "max": [ 936.0 ], "mean": [ 40.46322250366211 ], "std": [ 79.93987274169922 ], "count": [ 24955715 ] }, "observation.state.chassis": { "min": [ -9.425999641418457, -6.2829999923706055, -6.895999908447266, -0.6195303201675415, -0.9211705923080444, -0.42691951990127563 ], "max": [ 12.033696174621582, 11.938294410705566, 12.036173820495605, 0.40539395809173584, 1.1303400993347168, 0.3726104497909546 ], "mean": [ 2.482008218765259, 1.7933748960494995, 2.718313455581665, 0.0020001865923404694, 0.0011708351084962487, 0.0012164307991042733 ], "std": [ 3.141000509262085, 2.9728362560272217, 3.2609987258911133, 0.04141516610980034, 0.04892665892839432, 0.04176684841513634 ], "count": [ 24955715 ] } }, "agilex_3rgb": { "observation.states.joint_position_left": { "min": [ -2.091057777404785, -0.00171661376953125, 0.01430511474609375, -1.4269094467163086, -1.5802621841430664, -1.5718698501586914, -0.01807236671447754 ], "max": [ 0.7108793258666992, 2.5907907485961914, 3.1435489654541016, 1.3509960174560547, 1.563858985900879, 1.5787363052368164, 5.4465179443359375 ], "mean": [ -0.28747260570526123, 0.773970901966095, 0.8243739008903503, -0.5302353501319885, 0.16564816236495972, -0.030084166675806046, 0.8913196325302124 ], "std": [ 0.3195142447948456, 0.668306827545166, 0.6484689116477966, 0.4016237258911133, 0.26300227642059326, 0.19933897256851196, 1.552107572555542 ], "count": [ 5431759 ] }, "actions.end_effector_right": { "min": [ -0.242858424782753, -0.0763055756688118, -0.1036459431052208, -3.1395134925842285, -1.3025472164154053, -3.141434669494629, -0.2508211135864258 ], "max": [ 0.3965003192424774, 0.512925386428833, 0.4673699140548706, 3.1369271278381348, 1.5675408840179443, 3.1402270793914795, 5.944342613220215 ], "mean": [ 0.046655137091875076, 0.06402244418859482, 0.11799878627061844, 0.2520587742328644, 0.5331304669380188, 0.5759777426719666, 0.4578758478164673 ], "std": [ 0.08763006329536438, 0.07439202815294266, 0.09436066448688507, 0.329624205827713, 0.3304399847984314, 0.3785567581653595, 0.7613265514373779 ], "count": [ 5431759 ] }, "actions.joint_position_right": { "min": [ -2.3014421463012695, -2.0698862075805664, -2.5452041625976562, -2.282750129699707, -1.683070182800293, -1.628519058227539, -0.9864921569824219 ], "max": [ 1.330204963684082, 2.1980628967285156, 1.8825817108154297, 2.3781185150146484, 1.725794792175293, 2.080948829650879, 10.480659484863281 ], "mean": [ 0.0025147716514766216, -0.007389510981738567, -0.012093260884284973, 0.012490437366068363, 0.007579103112220764, -0.008911356329917908, 1.676374912261963 ], "std": [ 0.16907502710819244, 0.35854336619377136, 0.30457809567451477, 0.278882771730423, 0.14621736109256744, 0.133461132645607, 2.237295389175415 ], "count": [ 250424850 ] }, "observation.states.joint_position_right": { "min": [ -0.3152894973754883, -0.00629425048828125, 0.00820159912109375, -1.3658733367919922, -1.2617301940917969, -1.3296327590942383, -0.02064736746251583 ], "max": [ 2.2703514099121094, 2.91428279876709, 3.156519889831543, 1.3693065643310547, 1.5711069107055664, 1.585984230041504, 5.322538375854492 ], "mean": [ 0.3233942985534668, 0.7908617258071899, 0.8556858897209167, -0.6464936137199402, -0.18356691300868988, 0.09241010993719101, 0.9615775346755981 ], "std": [ 0.2994566261768341, 0.5923676490783691, 0.551389753818512, 0.40894994139671326, 0.2594775855541229, 0.1825914978981018, 1.5919374227523804 ], "count": [ 5431759 ] }, "actions.joint_effort_left": { "min": [ -0.6021976470947266, -10.843955993652344, -2.105494499206543, -0.41758155822753906, -1.3494510650634766, -0.628570556640625, -2.123077392578125 ], "max": [ 0.41758155822753906, 6.290109634399414, 6.0615386962890625, 4.391208648681641, 1.410989761352539, 0.46153831481933594, 0.7956047058105469 ], "mean": [ -0.008756864815950394, -1.3511583805084229, 5.115610122680664, 2.9742894172668457, 0.09996873885393143, -0.008826961740851402, -0.008796649053692818 ], "std": [ 0.016776753589510918, 2.9936883449554443, 0.5335214138031006, 0.5079467296600342, 0.1996859312057495, 0.009741674177348614, 0.021323945373296738 ], "count": [ 5431759 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 1165.0 ], "mean": [ 331.6827087402344 ], "std": [ 212.988525390625 ], "count": [ 5431759 ] }, "task_index": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 5431759 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 399.0 ], "mean": [ 82.09844207763672 ], "std": [ 64.3377914428711 ], "count": [ 5431759 ] }, "actions.joint_velocity_right": { "min": [ -14.80219841003418, -15.219779968261719, -18.208791732788086, -9.153846740722656, -7.791210174560547, -9.285713195800781, -18.89011001586914 ], "max": [ 9.483516693115234, 9.967033386230469, 13.153846740722656, 7.6813201904296875, 5.703296661376953, 7.373626708984375, 12.538459777832031 ], "mean": [ -0.02002476528286934, 0.0008638371946290135, -0.023961903527379036, -0.014015709049999714, -0.013368764892220497, -0.02821561135351658, -0.009114702232182026 ], "std": [ 0.9188951849937439, 1.7448863983154297, 1.6953157186508179, 0.5613622069358826, 0.3522844910621643, 0.30369696021080017, 0.4927707314491272 ], "count": [ 5431759 ] }, "observation.states.end_effector_left": { "min": [ -0.2872166037559509, -0.44644996523857117, -0.05806363373994827, -3.0451910495758057, -1.0462472438812256, -3.1390371322631836, -0.21686840057373047 ], "max": [ 0.4159260392189026, 0.19990402460098267, 0.5292775630950928, 3.0727219581604004, 1.5617839097976685, 3.137641429901123, 5.4465179443359375 ], "mean": [ 0.05904727056622505, -0.06713803857564926, 0.11111923307180405, -0.1419944018125534, 0.44501227140426636, -0.49288687109947205, 1.390066385269165 ], "std": [ 0.09478478133678436, 0.08323042094707489, 0.10235993564128876, 0.30482834577560425, 0.3165372312068939, 0.41174644231796265, 1.832593560218811 ], "count": [ 5431759 ] }, "observation.images.camera_front": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.5587154861641113 ] ], [ [ 0.5404295332508913 ] ], [ [ 0.5682011454857158 ] ] ], "std": [ [ [ 0.2699721332940541 ] ], [ [ 0.2791937542078403 ] ], [ [ 0.27449330157240165 ] ] ], "count": [ 14413 ] }, "observation.images.camera_right_wrist": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.5487027266852181 ] ], [ [ 0.5366247790580536 ] ], [ [ 0.5625793916360459 ] ] ], "std": [ [ [ 0.2684369257279201 ] ], [ [ 0.2845136527670715 ] ], [ [ 0.28098340032345026 ] ] ], "count": [ 14413 ] }, "observation.states.joint_velocity_left": { "min": [ -8.164836883544922, -12.824176788330078, -18.428571701049805, -7.0, -6.120880126953125, -4.3186798095703125, -35.74725341796875 ], "max": [ 10.934066772460938, 9.0, 10.208789825439453, 6.472526550292969, 5.659339904785156, 4.4945068359375, 35.19779968261719 ], "mean": [ -0.0036565803457051516, 0.00521991029381752, -0.012007856741547585, -0.013096676208078861, -0.010498746298253536, 0.002634933218359947, -0.005488502327352762 ], "std": [ 0.9077962040901184, 1.726312279701233, 1.6808233261108398, 0.5455536842346191, 0.3717213273048401, 0.287553071975708, 3.2805840969085693 ], "count": [ 5431759 ] }, "index": { "min": [ 0.0 ], "max": [ 265466.0 ], "mean": [ 55094.390625 ], "std": [ 45828.03515625 ], "count": [ 5431759 ] }, "actions.end_effector_left": { "min": [ -0.2799898386001587, -0.4494718909263611, -0.07776334881782532, -3.1352176666259766, -1.0878318548202515, -3.13797664642334, -0.18406391143798828 ], "max": [ 0.4182470738887787, 0.19864864647388458, 0.5306239128112793, 3.080735445022583, 1.5685882568359375, 3.1369881629943848, 5.053596496582031 ], "mean": [ 0.05952170491218567, -0.06780514866113663, 0.11099974811077118, -0.1362411081790924, 0.43957698345184326, -0.49348732829093933, 0.4195646047592163 ], "std": [ 0.09510717540979385, 0.08438029885292053, 0.10540428012609482, 0.30080118775367737, 0.3123798072338104, 0.4140182435512543, 0.8100626468658447 ], "count": [ 5431759 ] }, "observation.states.joint_velocity_right": { "min": [ -14.186813354492188, -14.164834976196289, -16.78022003173828, -5.9450531005859375, -6.384616851806641, -6.406593322753906, -35.41758346557617 ], "max": [ 9.087913513183594, 10.186813354492188, 12.582416534423828, 6.3186798095703125, 5.769229888916016, 4.802196502685547, 35.109893798828125 ], "mean": [ -0.020511265844106674, -0.0009253658936358988, -0.022106315940618515, -0.0136571004986763, -0.013794568367302418, -0.025022635236382484, -0.0005761573556810617 ], "std": [ 0.9167142510414124, 1.7529962062835693, 1.703782558441162, 0.5551345944404602, 0.33905255794525146, 0.2690698802471161, 3.419816017150879 ], "count": [ 5431759 ] }, "actions.joint_effort_right": { "min": [ -4.857142448425293, -12.540658950805664, -1.25274658203125, -0.08351707458496094, -1.164834976196289, -1.5076923370361328, -3.028571128845215 ], "max": [ 3.415384292602539, 5.463735580444336, 8.44395637512207, 4.232967376708984, 1.2703304290771484, 0.7164840698242188, 0.9890117645263672 ], "mean": [ -0.00821040291339159, -1.1134835481643677, 4.9890642166137695, 2.8334362506866455, -0.1476629376411438, -0.0087622394785285, -0.00880709383636713 ], "std": [ 0.05776381492614746, 2.7509219646453857, 0.5696431994438171, 0.5729992389678955, 0.21588078141212463, 0.009331543929874897, 0.019683899357914925 ], "count": [ 5431759 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 38.83333206176758 ], "mean": [ 11.056084632873535 ], "std": [ 7.099631309509277 ], "count": [ 5431759 ] }, "observation.states.end_effector_right": { "min": [ -0.24242855608463287, -0.07589682191610336, -0.08718103915452957, -3.1246681213378906, -1.3060177564620972, -3.1383471488952637, -0.24776840209960938 ], "max": [ 0.395738422870636, 0.5114397406578064, 0.4692436456680298, 3.135423183441162, 1.5701441764831543, 3.126995086669922, 5.322538375854492 ], "mean": [ 0.046182408928871155, 0.0633319839835167, 0.1176409050822258, 0.25400054454803467, 0.5370621681213379, 0.5753391981124878, 1.6106741428375244 ], "std": [ 0.08706330507993698, 0.07352844625711441, 0.09330929070711136, 0.33231282234191895, 0.3301997184753418, 0.37702083587646484, 1.9792457818984985 ], "count": [ 5431759 ] }, "observation.images.camera_left_wrist": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.5437232245172638 ] ], [ [ 0.5362069865950264 ] ], [ [ 0.564356198252735 ] ] ], "std": [ [ [ 0.2725208972510528 ] ], [ [ 0.2858724989039733 ] ], [ [ 0.28458264532509214 ] ] ], "count": [ 14413 ] }, "observation.states.joint_effort_right": { "min": [ -11.441758155822754, -17.173625946044922, -2.5538463592529297, -5.34945011138916, -5.287912368774414, -2.290109634399414, -12.75164794921875 ], "max": [ 6.668132781982422, 5.349451065063477, 12.593406677246094, 8.479120254516602, 8.707693099975586, 1.9472522735595703, 15.265933990478516 ], "mean": [ 0.05111362785100937, -1.0767027139663696, 4.715857982635498, 2.8015520572662354, -0.14803935587406158, 0.004041035659611225, -0.05610347166657448 ], "std": [ 0.24535082280635834, 2.6119377613067627, 0.8468604683876038, 0.7642866373062134, 0.32193732261657715, 0.16061188280582428, 0.9464777708053589 ], "count": [ 5431759 ] }, "observation.states.joint_effort_left": { "min": [ -6.307692527770996, -15.863736152648926, -5.2087907791137695, -6.413187026977539, -11.661539077758789, -3.731867790222168, -11.547252655029297 ], "max": [ 9.771429061889648, 10.30769157409668, 10.167032241821289, 11.397802352905273, 10.079120635986328, 2.2373619079589844, 15.072528839111328 ], "mean": [ -0.026611346751451492, -1.4031398296356201, 4.630356788635254, 3.0599634647369385, 0.09950751811265945, 0.015479139983654022, -0.26821258664131165 ], "std": [ 0.32744354009628296, 2.960803270339966, 1.0896573066711426, 0.8456670641899109, 0.39028769731521606, 0.1656322330236435, 1.4567573070526123 ], "count": [ 5431759 ] }, "actions.joint_velocity_left": { "min": [ -8.560440063476562, -12.406593322753906, -20.05494499206543, -8.934066772460938, -7.263736724853516, -7.615383148193359, -13.791208267211914 ], "max": [ 11.549449920654297, 8.538459777832031, 10.538459777832031, 7.0659332275390625, 6.626373291015625, 7.8131866455078125, 9.5054931640625 ], "mean": [ -0.004096278455108404, 0.005427527241408825, -0.015180597081780434, -0.013480075635015965, -0.01142493262887001, 0.005896538496017456, -0.009930573403835297 ], "std": [ 0.9091798067092896, 1.7164928913116455, 1.6760691404342651, 0.5482800602912903, 0.38453641533851624, 0.3251022398471832, 0.4893917143344879 ], "count": [ 5431759 ] }, "actions.joint_position_left": { "min": [ -1.4679183959960938, -2.2800798416137695, -2.7008466720581055, -1.8703737258911133, -1.640726089477539, -2.2632951736450195, -0.7942314147949219 ], "max": [ 2.426565170288086, 2.1206226348876953, 2.249561309814453, 2.644007682800293, 2.0077056884765625, 2.198824882507324, 8.928817749023438 ], "mean": [ -0.0003605557722039521, -0.008736105635762215, -0.014216816052794456, 0.014452679082751274, -0.009145223535597324, 0.014143401756882668, 1.3227381706237793 ], "std": [ 0.17524027824401855, 0.35005757212638855, 0.3090607821941376, 0.2696475684642792, 0.17230311036109924, 0.14804020524024963, 2.07096529006958 ], "count": [ 250424850 ] } }, "Genie-1": { "states.robot_to_env_pose": { "min": [ -0.02505362220108509, -0.8499986529350281, -0.7329345941543579, 0.7071067690849304, 9.313225191043273e-10, -6.1845634169444e-10, 0.7071067690849304 ], "max": [ 0.02499982714653015, -0.7800002694129944, 0.5921404957771301, 0.7071067690849304, 9.313225191043273e-10, -6.1845634169444e-10, 0.7071067690849304 ], "mean": [ -0.00048572791274636984, -0.8120647668838501, -0.043109118938446045, 0.70710688829422, 9.313214643924539e-10, -6.184562861832887e-10, 0.70710688829422 ], "std": [ 0.014426648616790771, 0.018681146204471588, 0.24654899537563324, 0.0, 1.0168460040996252e-12, 3.215549300352588e-13, 0.0 ], "count": [ 18840935 ] }, "states.right_ee_to_robot_pose": { "min": [ -0.31078800559043884, -0.8924083113670349, 0.6298943161964417, -0.7070894241333008, -0.7070894241333008, -0.7059944868087769, -0.6986715197563171 ], "max": [ 0.992515504360199, 0.26363980770111084, 1.976650357246399, 0.9996358752250671, 0.9999461770057678, 0.9981772899627686, 0.9997948408126831 ], "mean": [ 0.6555368304252625, -0.2518898844718933, 1.1064378023147583, -0.41212284564971924, 0.6477658152580261, -0.08364927023649216, 0.04771997034549713 ], "std": [ 0.08204777538776398, 0.12393157929182053, 0.09974391758441925, 0.3799865245819092, 0.3917649984359741, 0.29449325799942017, 0.12916691601276398 ], "count": [ 18840935 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 31.100000381469727 ], "mean": [ 7.7030205726623535 ], "std": [ 5.915524482727051 ], "count": [ 18840935 ] }, "actions.left_tcp_to_left_armbase_pose": { "min": [ -0.6121523976325989, -0.47860151529312134, -0.6921423077583313, -0.7037089467048645, -0.7055482864379883, -0.7065842747688293, -0.7065101861953735 ], "max": [ 0.8926814794540405, 1.1109302043914795, 0.8952809572219849, 0.9997661709785461, 0.9741376042366028, 0.9968883991241455, 0.9999511241912842 ], "mean": [ 0.4599691927433014, 0.09397410601377487, 0.05024223402142525, 0.20810064673423767, 0.015148259699344635, 0.5758805871009827, -0.3922157883644104 ], "std": [ 0.10501772165298462, 0.10690955072641373, 0.09270329773426056, 0.2074875831604004, 0.23727667331695557, 0.41100969910621643, 0.45023664832115173 ], "count": [ 18840935 ] }, "states.left_tcp_to_left_armbase_pose": { "min": [ -0.6121523976325989, -0.47860151529312134, -0.6921423077583313, -0.7037089467048645, -0.7055482864379883, -0.7065842747688293, -0.7065101861953735 ], "max": [ 0.8926814794540405, 1.1109302043914795, 0.8952809572219849, 0.9997661709785461, 0.9741376042366028, 0.9968883991241455, 0.9999511241912842 ], "mean": [ 0.4598873257637024, 0.09401200711727142, 0.05021797865629196, 0.20814746618270874, 0.01526036486029625, 0.5759690403938293, -0.3926793336868286 ], "std": [ 0.1049787625670433, 0.10687386244535446, 0.09266682714223862, 0.2073894590139389, 0.23709553480148315, 0.41076067090034485, 0.4500616490840912 ], "count": [ 18840935 ] }, "actions.right_ee_to_robot_pose": { "min": [ -0.31078800559043884, -0.8924083113670349, 0.6298943161964417, -0.7070894241333008, -0.7070894241333008, -0.7059944868087769, -0.6986715197563171 ], "max": [ 0.992515504360199, 0.26363980770111084, 1.976650357246399, 0.9996358752250671, 0.9999461770057678, 0.9981772899627686, 0.9997948408126831 ], "mean": [ 0.6556466221809387, -0.25173258781433105, 1.106493353843689, -0.41160672903060913, 0.6476318836212158, -0.08363071084022522, 0.0477338545024395 ], "std": [ 0.08210224658250809, 0.1240018978714943, 0.09976662695407867, 0.3802388906478882, 0.3920782506465912, 0.294724702835083, 0.12926873564720154 ], "count": [ 18840935 ] }, "states.left_joint.position": { "min": [ -3.109011650085449, -2.169252634048462, -3.0915133953094482, -2.0872957706451416, -2.920048952102661, -2.4149675369262695, -3.384948253631592 ], "max": [ 3.139195442199707, 1.4823558330535889, 3.0972816944122314, 1.5036227703094482, 3.3714098930358887, 2.0690157413482666, 3.103081703186035 ], "mean": [ -0.7946692705154419, 0.18905329704284668, 0.2246013879776001, -1.1380754709243774, 0.6706215739250183, 1.2858712673187256, -0.4450991153717041 ], "std": [ 0.7954184412956238, 0.9513732194900513, 0.597927451133728, 0.3587418794631958, 0.522394061088562, 0.4730129837989807, 0.6784234046936035 ], "count": [ 18840935 ] }, "states.right_ee_to_right_armbase_pose": { "min": [ -0.6052932143211365, -0.8924081921577454, -0.3942418694496155, -0.7068179845809937, -0.706994891166687, -0.7007423639297485, -0.7048665285110474 ], "max": [ 0.6525636315345764, 0.2636398375034332, 0.6767289638519287, 0.9997367858886719, 0.9982188940048218, 0.9686515927314758, 0.996041476726532 ], "mean": [ 0.37170493602752686, -0.2518899142742157, 0.08480256050825119, -0.39702022075653076, 0.5879664421081543, 0.034782085567712784, 0.2216065376996994 ], "std": [ 0.0727890208363533, 0.12393157929182053, 0.08880368620157242, 0.42891165614128113, 0.397360622882843, 0.255260705947876, 0.1983240246772766 ], "count": [ 18840935 ] }, "master_actions.right_joint.position": { "min": [ -2.652817487716675, -1.4836039543151855, -3.0999999046325684, -1.5054454803466797, -3.113384485244751, -2.42360258102417, -3.05749773979187 ], "max": [ 3.1315574645996094, 2.102745771408081, 3.10282564163208, 1.9454772472381592, 3.107654571533203, 1.744158148765564, 3.100193738937378 ], "mean": [ 0.7327446937561035, -0.08170565962791443, -0.17326156795024872, 1.1093007326126099, -0.675542950630188, -1.2999298572540283, 0.5081641674041748 ], "std": [ 0.8309195637702942, 1.015968680381775, 0.6271854043006897, 0.40914660692214966, 0.5467023253440857, 0.47398191690444946, 0.6879673600196838 ], "count": [ 18840935 ] }, "master_actions.left_gripper.position": { "min": [ -31.047536849975586 ], "max": [ 13.528731346130371 ], "mean": [ 0.8458595871925354 ], "std": [ 0.29372501373291016 ], "count": [ 18840935 ] }, "actions.left_gripper.position": { "min": [ -31.047536849975586 ], "max": [ 13.528731346130371 ], "mean": [ 0.8395162224769592 ], "std": [ 0.2954457700252533 ], "count": [ 817983650 ] }, "actions.right_tcp_to_right_armbase_pose": { "min": [ -0.8211797475814819, -1.1121445894241333, -0.5837138295173645, -0.7068179845809937, -0.706994891166687, -0.7007423639297485, -0.7048665285110474 ], "max": [ 0.867559015750885, 0.4778217673301697, 0.8955612778663635, 0.9997367858886719, 0.9982188940048218, 0.9686515927314758, 0.996041476726532 ], "mean": [ 0.45787936449050903, -0.09895945340394974, 0.054040729999542236, -0.39651304483413696, 0.5878373980522156, 0.03462059050798416, 0.2215602993965149 ], "std": [ 0.11112777143716812, 0.11185362935066223, 0.09612344205379486, 0.4291432499885559, 0.3976511061191559, 0.25548630952835083, 0.19842728972434998 ], "count": [ 18840935 ] }, "actions.left_ee_to_left_armbase_pose": { "min": [ -0.4610773026943207, -0.2837640643119812, -0.5628702044487, -0.7037089467048645, -0.7055482864379883, -0.7065842747688293, -0.7065101861953735 ], "max": [ 0.6728261113166809, 0.8915553689002991, 0.6759207248687744, 0.9997661709785461, 0.9741376042366028, 0.9968883991241455, 0.9999511241912842 ], "mean": [ 0.37438270449638367, 0.25429069995880127, 0.07536492496728897, 0.20810064673423767, 0.015148259699344635, 0.5758805871009827, -0.3922157883644104 ], "std": [ 0.06809937208890915, 0.1182076558470726, 0.09004274010658264, 0.2074875831604004, 0.23727667331695557, 0.41100969910621643, 0.45023664832115173 ], "count": [ 18840935 ] }, "master_actions.left_joint.position": { "min": [ -3.110853433609009, -2.1690075397491455, -3.0916354656219482, -2.0872957706451416, -2.920048952102661, -2.411776065826416, -3.384948253631592 ], "max": [ 3.139894485473633, 1.4823558330535889, 3.0999999046325684, 1.4863662719726562, 3.3714098930358887, 2.0690157413482666, 3.103081703186035 ], "mean": [ -0.793830394744873, 0.18674741685390472, 0.22554057836532593, -1.1360936164855957, 0.6697815656661987, 1.2854381799697876, -0.44619667530059814 ], "std": [ 0.7989770770072937, 0.9549784660339355, 0.6013912558555603, 0.3610571622848511, 0.5246614813804626, 0.47441530227661133, 0.6801559925079346 ], "count": [ 18840935 ] }, "states.right_tcp_to_right_armbase_pose": { "min": [ -0.8211797475814819, -1.1121445894241333, -0.5837138295173645, -0.7068179845809937, -0.706994891166687, -0.7007423639297485, -0.7048665285110474 ], "max": [ 0.867559015750885, 0.4778217673301697, 0.8955612778663635, 0.9997367858886719, 0.9982188940048218, 0.9686515927314758, 0.996041476726532 ], "mean": [ 0.4577743113040924, -0.09900268912315369, 0.05401671305298805, -0.39702022075653076, 0.5879664421081543, 0.034782085567712784, 0.2216065376996994 ], "std": [ 0.11106365919113159, 0.11181431263685226, 0.09609000384807587, 0.42891165614128113, 0.397360622882843, 0.255260705947876, 0.1983240246772766 ], "count": [ 18840935 ] }, "actions.left_tcp_to_robot_pose": { "min": [ -0.16946537792682648, -0.4786015450954437, 0.38304686546325684, -0.7049983143806458, -0.706758439540863, -0.707067608833313, -0.7070688009262085 ], "max": [ 1.2116529941558838, 1.11093008518219, 2.190539598464966, 0.9949477910995483, 0.9993139505386353, 0.9998385310173035, 0.9981259703636169 ], "mean": [ 0.710176408290863, 0.09397414326667786, 1.0285841226577759, 0.04175100475549698, -0.11954018473625183, 0.6617082953453064, -0.4259452223777771 ], "std": [ 0.10868261754512787, 0.10690954327583313, 0.10395517945289612, 0.13220132887363434, 0.27096453309059143, 0.360341876745224, 0.379387229681015 ], "count": [ 18840935 ] }, "head_camera_to_robot_extrinsics": { "min": [ 0.2453145533800125, -0.04772524535655975, 0.9440444707870483, -0.2629460394382477, -0.7005819082260132, -0.687227189540863, -0.40480566024780273 ], "max": [ 0.6741119623184204, 0.047049492597579956, 1.5223848819732666, 0.39576515555381775, 0.7296305894851685, 0.7438259720802307, 0.28536951541900635 ], "mean": [ 0.5194424390792847, -1.0523486707825214e-05, 1.3667443990707397, 0.201124906539917, -0.6424634456634521, 0.6617389917373657, -0.21551541984081268 ], "std": [ 0.024010954424738884, 0.0038006450049579144, 0.05167483165860176, 0.05413205921649933, 0.1682942807674408, 0.16690534353256226, 0.05773935467004776 ], "count": [ 18840935 ] }, "hand_right_camera_to_robot_extrinsics": { "min": [ -0.3814636170864105, -1.0481433868408203, -0.22654850780963898, -0.7050166130065918, -0.7068910598754883, -0.7069167494773865, -0.6999728679656982 ], "max": [ 2.8865966796875, 1.8378486633300781, 2.064302921295166, 0.9993934035301208, 0.9998446106910706, 0.9999403953552246, 0.9989999532699585 ], "mean": [ 0.6844748258590698, -0.18106475472450256, 1.1538218259811401, -0.2852480113506317, 0.771572470664978, -0.11318495869636536, 0.02031598798930645 ], "std": [ 0.1117396205663681, 0.12357305735349655, 0.10848583281040192, 0.2979300320148468, 0.3489058315753937, 0.28629425168037415, 0.1327546089887619 ], "count": [ 18840935 ] }, "actions.left_ee_to_robot_pose": { "min": [ -0.08939067274332047, -0.283764123916626, 0.6019872426986694, -0.7049983143806458, -0.706758439540863, -0.707067608833313, -0.7070688009262085 ], "max": [ 0.9923858642578125, 0.8915553092956543, 1.9738203287124634, 0.9949477910995483, 0.9993139505386353, 0.9998385310173035, 0.9981259703636169 ], "mean": [ 0.653006374835968, 0.25429069995880127, 1.096967101097107, 0.04175100475549698, -0.11954018473625183, 0.6617082953453064, -0.4259452223777771 ], "std": [ 0.08002656698226929, 0.11820758879184723, 0.094462551176548, 0.13220132887363434, 0.27096453309059143, 0.360341876745224, 0.379387229681015 ], "count": [ 18840935 ] }, "actions.right_ee_to_right_armbase_pose": { "min": [ -0.6052932143211365, -0.8924081921577454, -0.3942418694496155, -0.7068179845809937, -0.706994891166687, -0.7007423639297485, -0.7048665285110474 ], "max": [ 0.6525636315345764, 0.2636398375034332, 0.6767289638519287, 0.9997367858886719, 0.9982188940048218, 0.9686515927314758, 0.996041476726532 ], "mean": [ 0.37176698446273804, -0.25173255801200867, 0.08490724861621857, -0.39651304483413696, 0.5878373980522156, 0.03462059050798416, 0.2215602993965149 ], "std": [ 0.0728265792131424, 0.12400192767381668, 0.0888490229845047, 0.4291432499885559, 0.3976511061191559, 0.25548630952835083, 0.19842728972434998 ], "count": [ 18840935 ] }, "master_actions.right_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.8145615458488464 ], "std": [ 0.38865286111831665 ], "count": [ 18840935 ] }, "states.left_tcp_to_robot_pose": { "min": [ -0.16946537792682648, -0.4786015450954437, 0.38304686546325684, -0.7049983143806458, -0.706758439540863, -0.707067608833313, -0.7070688009262085 ], "max": [ 1.2116529941558838, 1.11093008518219, 2.190539598464966, 0.9949477910995483, 0.9993139505386353, 0.9998385310173035, 0.9981259703636169 ], "mean": [ 0.7100909352302551, 0.09401203691959381, 1.0286047458648682, 0.04177108779549599, -0.11953968554735184, 0.6617540121078491, -0.4263683557510376 ], "std": [ 0.10863818973302841, 0.10687384754419327, 0.10397295653820038, 0.13209199905395508, 0.27077922224998474, 0.3601236343383789, 0.37920793890953064 ], "count": [ 18840935 ] }, "images.rgb.hand_right": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.6123546534986543 ] ], [ [ 0.5853980875144176 ] ], [ [ 0.5430618257401 ] ] ], "std": [ [ [ 0.3343220915316621 ] ], [ [ 0.3362977327851885 ] ], [ [ 0.34291546049657606 ] ] ], "count": [ 3000 ] }, "states.left_ee_to_left_armbase_pose": { "min": [ -0.4610773026943207, -0.2837640643119812, -0.5628702044487, -0.7037089467048645, -0.7055482864379883, -0.7065842747688293, -0.7065101861953735 ], "max": [ 0.6728261113166809, 0.8915553689002991, 0.6759207248687744, 0.9997661709785461, 0.9741376042366028, 0.9968883991241455, 0.9999511241912842 ], "mean": [ 0.3743353486061096, 0.2544308602809906, 0.0752592533826828, 0.20814746618270874, 0.01526036486029625, 0.5759690403938293, -0.3926793336868286 ], "std": [ 0.06807639449834824, 0.1181441992521286, 0.08997424691915512, 0.2073894590139389, 0.23709553480148315, 0.41076067090034485, 0.4500616490840912 ], "count": [ 18840935 ] }, "images.rgb.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.6412966940813363 ] ], [ [ 0.6154517052469136 ] ], [ [ 0.5773943628358751 ] ] ], "std": [ [ [ 0.3274805584228503 ] ], [ [ 0.3314267970327354 ] ], [ [ 0.3414217213569636 ] ] ], "count": [ 3000 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 2193.0 ], "mean": [ 398.0010986328125 ], "std": [ 551.03662109375 ], "count": [ 18840935 ] }, "states.right_gripper.position": { "min": [ -93.83064270019531 ], "max": [ 22.70714569091797 ], "mean": [ 0.8544023036956787 ], "std": [ 0.2759970724582672 ], "count": [ 18840935 ] }, "images.rgb.hand_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.6046336906478279 ] ], [ [ 0.5780519778450595 ] ], [ [ 0.5396336167980263 ] ] ], "std": [ [ [ 0.3341776476455558 ] ], [ [ 0.334456178228261 ] ], [ [ 0.3382468632610946 ] ] ], "count": [ 3000 ] }, "actions.right_gripper.position": { "min": [ -93.83064270019531 ], "max": [ 22.70714569091797 ], "mean": [ 0.8496156334877014 ], "std": [ 0.2757028639316559 ], "count": [ 817983650 ] }, "states.right_tcp_to_robot_pose": { "min": [ -0.526583194732666, -1.1121447086334229, 0.4099868834018707, -0.7070894241333008, -0.7070894241333008, -0.7059944868087769, -0.6986715197563171 ], "max": [ 1.2119410037994385, 0.4778217375278473, 2.196092367172241, 0.9996358752250671, 0.9999461770057678, 0.9981772899627686, 0.9997948408126831 ], "mean": [ 0.7099061012268066, -0.0990026518702507, 1.0330432653427124, -0.41212284564971924, 0.6477658152580261, -0.08364927023649216, 0.04771997034549713 ], "std": [ 0.11362405121326447, 0.11181430518627167, 0.11298515647649765, 0.3799865245819092, 0.3917649984359741, 0.29449325799942017, 0.12916691601276398 ], "count": [ 18840935 ] }, "hand_left_camera_to_robot_extrinsics": { "min": [ -0.03358030319213867, -1.2856229543685913, 0.5267146825790405, -0.6901317238807678, -0.7069825530052185, -0.7070196270942688, -0.706656813621521 ], "max": [ 2.0532209873199463, 0.9700044989585876, 2.067401885986328, 0.9989142417907715, 0.9986445307731628, 0.9998824000358582, 0.9986103177070618 ], "mean": [ 0.6991555094718933, 0.18716855347156525, 1.1245752573013306, 0.030465733259916306, -0.1546659767627716, 0.7850766777992249, -0.32884806394577026 ], "std": [ 0.09851762652397156, 0.11272186785936356, 0.09782151877880096, 0.13579168915748596, 0.2578486502170563, 0.2852068245410919, 0.29050904512405396 ], "count": [ 18840935 ] }, "states.left_ee_to_robot_pose": { "min": [ -0.08939067274332047, -0.283764123916626, 0.6019872426986694, -0.7049983143806458, -0.706758439540863, -0.707067608833313, -0.7070688009262085 ], "max": [ 0.9923858642578125, 0.8915553092956543, 1.9738203287124634, 0.9949477910995483, 0.9993139505386353, 0.9998385310173035, 0.9981259703636169 ], "mean": [ 0.6529098153114319, 0.2544308602809906, 1.0969009399414062, 0.04177108779549599, -0.11953968554735184, 0.6617540121078491, -0.4263683557510376 ], "std": [ 0.0799831673502922, 0.11814416944980621, 0.09440889954566956, 0.13209199905395508, 0.27077922224998474, 0.3601236343383789, 0.37920793890953064 ], "count": [ 18840935 ] }, "states.left_gripper.position": { "min": [ -31.047536849975586 ], "max": [ 18.342538833618164 ], "mean": [ 0.8464376926422119 ], "std": [ 0.2932944893836975 ], "count": [ 18840935 ] }, "master_actions.left_gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.8003353476524353 ], "std": [ 0.3997482657432556 ], "count": [ 18840935 ] }, "head_camera_intrinsics": { "min": [ 323.3450012207031, 323.3450012207031, 319.54998779296875, 182.17999267578125 ], "max": [ 323.3450012207031, 323.3450012207031, 319.54998779296875, 182.17999267578125 ], "mean": [ 323.3452453613281, 323.3452453613281, 319.550048828125, 182.1798553466797 ], "std": [ 0.0, 0.0, 0.0, 0.24206146597862244 ], "count": [ 18840935 ] }, "hand_left_camera_intrinsics": { "min": [ 433.635009765625, 433.635009765625, 431.8999938964844, 241.38999938964844 ], "max": [ 433.635009765625, 433.635009765625, 431.8999938964844, 241.38999938964844 ], "mean": [ 433.6348876953125, 433.6348876953125, 431.8999938964844, 241.3899383544922 ], "std": [ 0.46770718693733215, 0.46770718693733215, 0.0, 0.1875 ], "count": [ 18840935 ] }, "index": { "min": [ 0.0 ], "max": [ 1594442.0 ], "mean": [ 235132.484375 ], "std": [ 364870.375 ], "count": [ 18840935 ] }, "actions.right_joint.position": { "min": [ -2.1482789516448975, -2.8892130851745605, -3.533997058868408, -1.6144917011260986, -3.8622522354125977, -3.42922306060791, -4.490894794464111 ], "max": [ 3.5515239238739014, 1.5820900201797485, 2.9704761505126953, 2.9564313888549805, 2.94697904586792, 1.9393800497055054, 3.311695098876953 ], "mean": [ -0.018811320886015892, 0.03203209862112999, 0.0014296560548245907, -0.016126656904816628, 0.003931897226721048, 0.012188050895929337, 0.02099226787686348 ], "std": [ 0.27072370052337646, 0.3312830626964569, 0.20357488095760345, 0.1584554761648178, 0.18622757494449615, 0.18588492274284363, 0.2534776031970978 ], "count": [ 817983650 ] }, "master_actions.right_gripper.position": { "min": [ -93.83064270019531 ], "max": [ 22.70714569091797 ], "mean": [ 0.8538026213645935 ], "std": [ 0.2765274941921234 ], "count": [ 18840935 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 933.0 ], "mean": [ 231.09048461914062 ], "std": [ 177.46600341796875 ], "count": [ 18840935 ] }, "states.right_joint.position": { "min": [ -2.6501145362854004, -1.4836673736572266, -3.10017728805542, -1.5054689645767212, -3.113384485244751, -2.42360258102417, -3.0568394660949707 ], "max": [ 3.1312415599823, 2.102745771408081, 3.10282564163208, 1.9663244485855103, 3.1078872680664062, 1.744158148765564, 3.100193738937378 ], "mean": [ 0.7338668704032898, -0.08439086377620697, -0.1727287322282791, 1.1112233400344849, -0.676044225692749, -1.300614595413208, 0.5063180923461914 ], "std": [ 0.8274230360984802, 1.0124549865722656, 0.6238864660263062, 0.4071480929851532, 0.5440612435340881, 0.4723779857158661, 0.6858174204826355 ], "count": [ 18840935 ] }, "actions.right_tcp_to_robot_pose": { "min": [ -0.526583194732666, -1.1121447086334229, 0.4099868834018707, -0.7070894241333008, -0.7070894241333008, -0.7059944868087769, -0.6986715197563171 ], "max": [ 1.2119410037994385, 0.4778217375278473, 2.196092367172241, 0.9996358752250671, 0.9999461770057678, 0.9981772899627686, 0.9997948408126831 ], "mean": [ 0.7100116014480591, -0.09895941615104675, 1.0330092906951904, -0.41160672903060913, 0.6476318836212158, -0.08363071084022522, 0.0477338545024395 ], "std": [ 0.1136833131313324, 0.11185365915298462, 0.11296827346086502, 0.3802388906478882, 0.3920782506465912, 0.294724702835083, 0.12926873564720154 ], "count": [ 18840935 ] }, "task_index": { "min": [ 0.0 ], "max": [ 30.0 ], "mean": [ 1.9637975692749023 ], "std": [ 5.356683254241943 ], "count": [ 18840935 ] }, "hand_right_camera_intrinsics": { "min": [ 433.635009765625, 433.635009765625, 431.8999938964844, 241.38999938964844 ], "max": [ 433.635009765625, 433.635009765625, 431.8999938964844, 241.38999938964844 ], "mean": [ 433.6348876953125, 433.6348876953125, 431.8999938964844, 241.3899383544922 ], "std": [ 0.46770718693733215, 0.46770718693733215, 0.0, 0.1875 ], "count": [ 18840935 ] }, "actions.left_joint.position": { "min": [ -4.479841232299805, -1.6254962682724, -2.7485718727111816, -2.9230613708496094, -2.7858364582061768, -1.5692105293273926, -3.2472071647644043 ], "max": [ 2.352735757827759, 2.9045286178588867, 3.5812926292419434, 1.7752320766448975, 3.890096664428711, 4.076046943664551, 3.2842066287994385 ], "mean": [ 0.01631711982190609, -0.02813527174293995, 0.0008427334250882268, 0.016301404684782028, -0.005606123246252537, -0.010605801828205585, -0.014807180501520634 ], "std": [ 0.2577780783176422, 0.3037567734718323, 0.18695178627967834, 0.1435968428850174, 0.1719842255115509, 0.18481530249118805, 0.23824599385261536 ], "count": [ 817983650 ] } }, "Franka": { "states.gripper.position": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.40064990520477295 ], "std": [ 0.47934406995773315 ], "count": [ 64998110 ] }, "master_actions.gripper.pose": { "min": [ -0.5886622071266174, -0.7203167676925659, -0.3232220411300659, -3.1415927410125732, -1.5705453157424927, -3.141592502593994 ], "max": [ 0.8479434847831726, 0.7128124237060547, 1.1009458303451538, 3.1415927410125732, 1.56938636302948, 3.141592502593994 ], "mean": [ 0.43017011880874634, 0.018678812310099602, 0.34114447236061096, -0.0347725972533226, -0.019567130133509636, -0.16320405900478363 ], "std": [ 0.12293286621570587, 0.2078172117471695, 0.12801459431648254, 2.989279270172119, 0.3208834230899811, 0.741034209728241 ], "count": [ 64998110 ] }, "states.tcp_to_armbase_pose": { "min": [ -0.6654785871505737, -0.763344407081604, -0.3871573507785797, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.9303598403930664, 0.7273703813552856, 1.0850850343704224, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.4359978437423706, 0.017381586134433746, 0.21908578276634216, 0.0032707019709050655, 0.9080472588539124, 0.023217415437102318, 0.019892865791916847 ], "std": [ 0.12108402699232101, 0.20533768832683563, 0.12590771913528442, 0.1341414451599121, 0.24103344976902008, 0.266694039106369, 0.1651899665594101 ], "count": [ 64998110 ] }, "images.rgb.hand": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.5833246226539203 ] ], [ [ 0.5573147477741093 ] ], [ [ 0.5011847439989506 ] ] ], "std": [ [ [ 0.2827824924330288 ] ], [ [ 0.29141492829333 ] ], [ [ 0.30947738637735567 ] ] ], "count": [ 50764 ] }, "hand_camera_to_robot_extrinsics": { "min": [ -0.6134033799171448, -0.7256761789321899, -0.33298641443252563, -0.7062029242515564, -0.7070618867874146, -0.7070509195327759, -0.7068045139312744 ], "max": [ 0.8993929624557495, 0.7526560425758362, 1.0281283855438232, 0.9999438524246216, 0.9999948740005493, 0.9999921321868896, 0.9999125003814697 ], "mean": [ 0.39250102639198303, -0.005857026670128107, 0.31929561495780945, 0.14859917759895325, 0.5556284189224243, 0.5679372549057007, 0.13830476999282837 ], "std": [ 0.13882099092006683, 0.20720389485359192, 0.12520870566368103, 0.17065653204917908, 0.3700721263885498, 0.36977654695510864, 0.15717068314552307 ], "count": [ 64998110 ] }, "master_actions.joint.position": { "min": [ -5.333568572998047, -1.7628031969070435, -2.8941218852996826, -3.1871800422668457, -6.093289852142334, -6.277713775634766, -5.655116081237793 ], "max": [ 6.183481693267822, 1.7628005743026733, 4.660283088684082, -0.06982052326202393, 6.056750297546387, 6.224431991577148, 5.5103535652160645 ], "mean": [ -0.0449044294655323, -0.04888880252838135, 0.09064532816410065, -2.280141592025757, 0.037268735468387604, 2.226245880126953, 0.1616017371416092 ], "std": [ 0.5692651271820068, 0.5485937595367432, 0.5520998239517212, 0.4271799623966217, 0.5937180519104004, 0.469536691904068, 0.8373909592628479 ], "count": [ 64998110 ] }, "head_camera_intrinsics": { "min": [ 323.3450012207031, 323.3450012207031, 318.19000244140625, 182.17999267578125 ], "max": [ 605.2940063476562, 605.2940063476562, 320.77801513671875, 255.8159942626953 ], "mean": [ 538.7601318359375, 538.7601318359375, 319.6970520019531, 228.2955780029297 ], "std": [ 119.4945068359375, 119.4945068359375, 0.5303300619125366, 26.00720977783203 ], "count": [ 64998110 ] }, "actions.gripper.position": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.3867638409137726 ], "std": [ 0.47702252864837646 ], "count": [ 2980657850 ] }, "actions.ee_to_armbase_pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.8479536175727844, 0.7126164436340332, 1.1025772094726562, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.4300729036331177, 0.01858082041144371, 0.3414972424507141, 0.0032643156591802835, 0.9078429341316223, 0.02329065650701523, 0.01992376521229744 ], "std": [ 0.12306413054466248, 0.20771346986293793, 0.1282939463853836, 0.13423730432987213, 0.24133704602718353, 0.267007052898407, 0.16527190804481506 ], "count": [ 64998110 ] }, "master_actions.gripper.position": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.40055668354034424 ], "std": [ 0.47935745120048523 ], "count": [ 64998110 ] }, "hand_camera_intrinsics": { "min": [ 605.2940063476562, 605.2940063476562, 310.885009765625, 240.0 ], "max": [ 605.4450073242188, 605.4450073242188, 320.77801513671875, 255.8159942626953 ], "mean": [ 605.3119506835938, 605.3119506835938, 319.13153076171875, 245.2383270263672 ], "std": [ 0.0, 0.0, 3.019468069076538, 6.991344928741455 ], "count": [ 64998110 ] }, "states.joint.position": { "min": [ -5.333568572998047, -1.7628377676010132, -2.8940787315368652, -3.294687271118164, -6.093289852142334, -6.277713775634766, -6.255098819732666 ], "max": [ 6.183481693267822, 1.7628018856048584, 4.660283088684082, -0.06982052326202393, 6.056750297546387, 6.224431991577148, 6.093045711517334 ], "mean": [ -0.04497838765382767, -0.050738196820020676, 0.09039658308029175, -2.2808449268341064, 0.037756405770778656, 2.2266268730163574, 0.15780240297317505 ], "std": [ 0.5683509707450867, 0.5489280819892883, 0.5512715578079224, 0.42656949162483215, 0.5927822589874268, 0.47031649947166443, 0.8213431239128113 ], "count": [ 64998110 ] }, "actions.tcp_to_robot_pose": { "min": [ -0.6654785871505737, -0.763344407081604, -0.3871573507785797, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.9303598403930664, 0.7273703813552856, 1.0850850343704224, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.43617329001426697, 0.017448032274842262, 0.2187822163105011, 0.0032643156591802835, 0.9078429341316223, 0.02329065650701523, 0.01992376521229744 ], "std": [ 0.12111220508813858, 0.2055961787700653, 0.12571656703948975, 0.13423730432987213, 0.24133704602718353, 0.267007052898407, 0.16527190804481506 ], "count": [ 64998110 ] }, "actions.ee_to_robot_pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.8479536175727844, 0.7126164436340332, 1.1025772094726562, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.4300729036331177, 0.01858082041144371, 0.3414972424507141, 0.0032643156591802835, 0.9078429341316223, 0.02329065650701523, 0.01992376521229744 ], "std": [ 0.12306413054466248, 0.20771346986293793, 0.1282939463853836, 0.13423730432987213, 0.24133704602718353, 0.267007052898407, 0.16527190804481506 ], "count": [ 64998110 ] }, "actions.gripper.pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -3.1415927410125732, -1.5706114768981934, -3.141591787338257 ], "max": [ 0.8479536771774292, 0.7126164436340332, 1.1025772094726562, 3.1415927410125732, 1.5684442520141602, 3.141589403152466 ], "mean": [ 0.4300729036331177, 0.018580816686153412, 0.3414972126483917, -0.17617428302764893, -0.01882226951420307, -0.15957492589950562 ], "std": [ 0.12306413054466248, 0.20771348476409912, 0.12829403579235077, 2.9775478839874268, 0.31941619515419006, 0.7422862648963928 ], "count": [ 64998110 ] }, "head_camera_to_robot_extrinsics": { "min": [ -1000.089111328125, -1.1494556665420532, 0.16544568538665771, -0.6761370301246643, -0.6683846712112427, -0.38636744022369385, -0.4099845886230469 ], "max": [ 1.2022478580474854, 0.05947168916463852, 0.993459939956665, 0.6942698359489441, 0.8833267688751221, 0.6902964115142822, 0.30948761105537415 ], "mean": [ 0.06613118946552277, -0.719373881816864, 0.6164794564247131, -0.47156623005867004, 0.7993977069854736, -0.10034184157848358, 0.03981059044599533 ], "std": [ 0.4581008851528168, 0.3137364685535431, 0.07676252722740173, 0.06907206028699875, 0.0767141729593277, 0.3020734190940857, 0.1582115739583969 ], "count": [ 64998110 ] }, "images.rgb.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.6355108132431438 ] ], [ [ 0.6074493153653573 ] ], [ [ 0.5640964948774447 ] ] ], "std": [ [ [ 0.28986602854800686 ] ], [ [ 0.2984678926884177 ] ], [ [ 0.3134347664500926 ] ] ], "count": [ 50764 ] }, "actions.tcp_to_armbase_pose": { "min": [ -0.6654785871505737, -0.763344407081604, -0.3871573507785797, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.9303598403930664, 0.7273703813552856, 1.0850850343704224, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.43617329001426697, 0.017448032274842262, 0.2187822163105011, 0.0032643156591802835, 0.9078429341316223, 0.02329065650701523, 0.01992376521229744 ], "std": [ 0.12111220508813858, 0.2055961787700653, 0.12571656703948975, 0.13423730432987213, 0.24133704602718353, 0.267007052898407, 0.16527190804481506 ], "count": [ 64998110 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 2126.0 ], "mean": [ 424.39068603515625 ], "std": [ 331.9037780761719 ], "count": [ 64998110 ] }, "states.robot_to_env_pose": { "min": [ -0.507671594619751, -0.5, -0.07381363958120346, 0.7071067690849304, 0.0, 0.0, 0.0 ], "max": [ 999.534912109375, 0.048628561198711395, 1.0362248420715332, 1.0, 0.0, 0.0, 0.7071067690849304 ], "mean": [ -0.2706414759159088, -0.17714352905750275, 0.9102442264556885, 0.8913318514823914, 0.0, 0.0, 0.262347549200058 ], "std": [ 0.24299992620944977, 0.229546457529068, 0.12861670553684235, 0.1414906084537506, 0.0, 0.0, 0.341586709022522 ], "count": [ 64998110 ] }, "task_index": { "min": [ 0.0 ], "max": [ 4999.0 ], "mean": [ 532.5797729492188 ], "std": [ 1208.265869140625 ], "count": [ 64998110 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 5345.0 ], "mean": [ 1911.1727294921875 ], "std": [ 1410.974609375 ], "count": [ 64998110 ] }, "actions.gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.5012218356132507 ], "std": [ 0.4999985098838806 ], "count": [ 64998110 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 70.86666870117188 ], "mean": [ 14.14636516571045 ], "std": [ 11.063462257385254 ], "count": [ 64998110 ] }, "states.tcp_to_robot_pose": { "min": [ -0.6654785871505737, -0.763344407081604, -0.3871573507785797, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.9303598403930664, 0.7273703813552856, 1.0850850343704224, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.4359978437423706, 0.017381586134433746, 0.21908578276634216, 0.0032707019709050655, 0.9080472588539124, 0.023217415437102318, 0.019892865791916847 ], "std": [ 0.12108402699232101, 0.20533768832683563, 0.12590771913528442, 0.1341414451599121, 0.24103344976902008, 0.266694039106369, 0.1651899665594101 ], "count": [ 64998110 ] }, "states.ee_to_armbase_pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.8479536175727844, 0.7126164436340332, 1.1025772094726562, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.429907888174057, 0.01851457916200161, 0.34181126952171326, 0.0032707019709050655, 0.9080472588539124, 0.023217415437102318, 0.019892865791916847 ], "std": [ 0.12303070724010468, 0.20745818316936493, 0.12848296761512756, 0.1341414451599121, 0.24103344976902008, 0.266694039106369, 0.1651899665594101 ], "count": [ 64998110 ] }, "actions.joint.position": { "min": [ -9.804682731628418, -1.7982432842254639, -2.4252870082855225, -1.6933411359786987, -6.946676254272461, -8.886549949645996, -8.528618812561035 ], "max": [ 6.524318695068359, 1.803518295288086, 4.790648460388184, 1.8650999069213867, 7.659153938293457, 4.774890899658203, 7.3891825675964355 ], "mean": [ -0.001096096122637391, 0.03064066171646118, 0.0041991304606199265, 0.010305208154022694, 0.0013297989498823881, 0.021504148840904236, -0.000691592285875231 ], "std": [ 0.16454003751277924, 0.23943142592906952, 0.15519538521766663, 0.20406410098075867, 0.18009400367736816, 0.22070731222629547, 0.24277061223983765 ], "count": [ 2980657850 ] }, "index": { "min": [ 0.0 ], "max": [ 6806625.0 ], "mean": [ 1764191.75 ], "std": [ 1626540.5 ], "count": [ 64998110 ] }, "states.gripper.pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -3.1415927410125732, -1.5706114768981934, -3.141591787338257 ], "max": [ 0.8479536771774292, 0.7126164436340332, 1.1025772094726562, 3.1415927410125732, 1.5684442520141602, 3.141589403152466 ], "mean": [ 0.429907888174057, 0.01851457916200161, 0.3418112099170685, -0.17608356475830078, -0.018813354894518852, -0.1596238762140274 ], "std": [ 0.12303070724010468, 0.20745818316936493, 0.12848325073719025, 2.9777612686157227, 0.31927600502967834, 0.7415627241134644 ], "count": [ 64998110 ] }, "states.ee_to_robot_pose": { "min": [ -0.5886622071266174, -0.7201771140098572, -0.3232192099094391, -0.7069592475891113, -0.707035481929779, -0.7068787217140198, -0.7066540718078613 ], "max": [ 0.8479536175727844, 0.7126164436340332, 1.1025772094726562, 0.999978244304657, 1.0, 0.999974250793457, 0.9997894167900085 ], "mean": [ 0.429907888174057, 0.01851457916200161, 0.34181126952171326, 0.0032707019709050655, 0.9080472588539124, 0.023217415437102318, 0.019892865791916847 ], "std": [ 0.12303070724010468, 0.20745818316936493, 0.12848296761512756, 0.1341414451599121, 0.24103344976902008, 0.266694039106369, 0.1651899665594101 ], "count": [ 64998110 ] }, "master_actions.gripper.openness": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.5012218356132507 ], "std": [ 0.4999985098838806 ], "count": [ 64998110 ] } }, "franka_droid": { "observation.images.wrist_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.3976203054269194 ] ], [ [ 0.3871892818546649 ] ], [ [ 0.3336362622019357 ] ] ], "std": [ [ [ 0.08627309063517866 ] ], [ [ 0.0783642428283823 ] ], [ [ 0.09337033076430142 ] ] ], "count": [ 9880399 ], "q01": [ [ [ 0.0013177223156974275 ] ], [ [ 0.0026627298163866605 ] ], [ [ 0.0014785101157722652 ] ] ], "q10": [ [ [ 0.036897905133423656 ] ], [ [ 0.038736551800309126 ] ], [ [ 0.026978834694000163 ] ] ], "q50": [ [ [ 0.40370945022841176 ] ], [ [ 0.3818255250941323 ] ], [ [ 0.30993625915476153 ] ] ], "q90": [ [ [ 0.7541511756752501 ] ], [ [ 0.7463885856266324 ] ], [ [ 0.6815181005341311 ] ] ], "q99": [ [ [ 0.9131635070376395 ] ], [ [ 0.9195172786193295 ] ], [ [ 0.8846286396385151 ] ] ] }, "is_first": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.003413698635995388 ], "std": [ 0.05832705646753311 ], "count": [ 27593531 ] }, "camera_extrinsics.exterior_1_left": { "min": [ -0.4061287045478821, -0.8382569551467896, 0.136173814535141, -3.0570228099823, -0.6354267597198486, -3.1335179805755615 ], "max": [ 0.9078853130340576, 1.0507566928863525, 0.7972877621650696, 1.7509201765060425, 1.5647183656692505, 3.1100029945373535 ], "mean": [ 0.19977504014968872, 0.18621692061424255, 0.43398216366767883, -1.9974617958068848, 0.005034292116761208, -1.7123652696609497 ], "std": [ 0.1895720362663269, 0.4664369225502014, 0.1149151623249054, 0.24287109076976776, 0.1277497261762619, 1.0309779644012451 ], "count": [ 27593531 ] }, "action.cartesian_position": { "min": [ -0.8037163615226746, -0.9975920915603638, -0.9239428043365479, -6.283180236816406, -2.4132046699523926, -6.283054828643799 ], "max": [ 0.627133309841156, 0.942120373249054, 0.9936542510986328, 6.283182621002197, 2.456707715988159, 6.282794952392578 ], "mean": [ 0.01711735501885414, -0.00036144323530606925, -0.015339255332946777, 0.012666651979088783, -0.010952578857541084, -0.007690230384469032 ], "std": [ 0.07759170234203339, 0.09403424710035324, 0.09872045367956161, 2.7978515625, 0.20655858516693115, 0.4328368902206421 ], "count": [ 1148896350 ] }, "action.gripper_position": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.4556777775287628 ], "std": [ 0.44135525822639465 ], "count": [ 1148896350 ] }, "action.gripper_velocity": { "min": [ -1.0 ], "max": [ 1.0 ], "mean": [ 0.16286534070968628 ], "std": [ 0.4436315894126892 ], "count": [ 27593531 ] }, "observation.images.exterior_1_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.39594134104250656 ] ], [ [ 0.3925803910915668 ] ], [ [ 0.35542220860752105 ] ] ], "std": [ [ [ 0.06247013745462104 ] ], [ [ 0.061971972497512885 ] ], [ [ 0.07334730587859552 ] ] ], "count": [ 9880399 ], "q01": [ [ [ 0.01194747260918715 ] ], [ [ 0.01541963341444587 ] ], [ [ 0.006985511530525994 ] ] ], "q10": [ [ [ 0.08588676603455353 ] ], [ [ 0.08761488769710632 ] ], [ [ 0.06851709621773572 ] ] ], "q50": [ [ [ 0.35867325148564794 ] ], [ [ 0.3516051606157253 ] ], [ [ 0.3067859150414518 ] ] ], "q90": [ [ [ 0.7716965533051588 ] ], [ [ 0.7689354806476101 ] ], [ [ 0.7296123334191681 ] ] ], "q99": [ [ [ 0.9296929133658819 ] ], [ [ 0.9417731825791831 ] ], [ [ 0.9262088391725545 ] ] ] }, "index": { "min": [ 0.0 ], "max": [ 27630374.0 ], "mean": [ 13815192.0 ], "std": [ 7976428.0 ], "count": [ 27593531 ] }, "camera_extrinsics.wrist_left": { "min": [ 0.05596059933304787, -0.557707667350769, -0.15744832158088684, -3.1415493488311768, -0.9542905688285828, -3.118767499923706 ], "max": [ 0.8169044852256775, 0.5791018009185791, 0.8965381979942322, 3.1414573192596436, 1.139443039894104, 3.1029858589172363 ], "mean": [ 0.28704410791397095, -0.02928403951227665, 0.46584004163742065, 2.7003707885742188, -0.006500694900751114, 1.5142292976379395 ], "std": [ 0.05799349397420883, 0.11360250413417816, 0.05965590849518776, 0.782511830329895, 0.1574905961751938, 0.4471486508846283 ], "count": [ 27593531 ] }, "reward": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.0028544371016323566 ], "std": [ 0.053350627422332764 ], "count": [ 27593531 ] }, "action.joint_position": { "min": [ -2.8215115070343018, -2.4883241653442383, -3.615752935409546, -2.451036214828491, -3.4963788986206055, -2.811838150024414, -3.372452735900879 ], "max": [ 2.993748664855957, 2.624358892440796, 3.1196765899658203, 2.4959945678710938, 3.752185821533203, 3.2666454315185547, 3.3889846801757812 ], "mean": [ 0.0010598531225696206, 0.08421776443719864, -0.0021486293990164995, 0.05580346658825874, -0.003155905520543456, 0.03554889187216759, 0.010986577719449997 ], "std": [ 0.17711059749126434, 0.32671883702278137, 0.1690792292356491, 0.29553502798080444, 0.2730281949043274, 0.28573551774024963, 0.3295589089393616 ], "count": [ 1148896350 ] }, "action.joint_velocity": { "min": [ -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0 ], "max": [ 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 ], "mean": [ -0.004406601190567017, 0.01937258429825306, 0.002147288527339697, 0.032952405512332916, 0.0012406910536810756, 0.00044396473094820976, 0.002891837153583765 ], "std": [ 0.15228819847106934, 0.2936502993106842, 0.14837336540222168, 0.2891433537006378, 0.21627038717269897, 0.237507164478302, 0.2573705017566681 ], "count": [ 27593531 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 95657.0 ], "mean": [ 47910.73828125 ], "std": [ 27644.1328125 ], "count": [ 27593531 ] }, "observation.state.gripper_position": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.36132246255874634 ], "std": [ 0.4032098948955536 ], "count": [ 27593531 ] }, "observation.state": { "min": [ -2.672288417816162, -1.6589547395706177, -2.6781487464904785, -2.9409868717193604, -2.6705946922302246, 0.23991677165031433, -3.01689076423645, 0.0 ], "max": [ 2.677424192428589, 1.5840554237365723, 2.6957037448883057, -0.29779934883117676, 2.6624162197113037, 4.309162616729736, 2.755643367767334, 1.0 ], "mean": [ 0.014295287430286407, 0.24081715941429138, -0.014694181270897388, -2.0274274349212646, -0.03551638126373291, 2.323869466781616, 0.08334964513778687, 0.36132246255874634 ], "std": [ 0.32460251450538635, 0.5153817534446716, 0.2902102768421173, 0.5022139549255371, 0.5334727168083191, 0.46852707862854004, 0.745053231716156, 0.4032098948955536 ], "count": [ 27593531 ] }, "camera_extrinsics.exterior_2_left": { "min": [ -0.3938228189945221, -0.8522573113441467, 0.13279427587985992, -3.043391227722168, -1.5452197790145874, -3.1349070072174072 ], "max": [ 171.77088928222656, 501.0211181640625, 129.38931274414062, 3.1098504066467285, 1.501720905303955, 3.138532876968384 ], "mean": [ 0.17603608965873718, -0.09014999866485596, 0.4290240406990051, -1.9885786771774292, 0.0046721287071704865, -1.2602297067642212 ], "std": [ 1.2785584926605225, 3.7234344482421875, 0.9574670195579529, 0.26719027757644653, 0.12965239584445953, 0.8569096922874451 ], "count": [ 27593531 ] }, "task_index": { "min": [ 0.0 ], "max": [ 49629.0 ], "mean": [ 14651.6953125 ], "std": [ 15822.7744140625 ], "count": [ 27593531 ] }, "action": { "min": [ -2.781099557876587, -1.6589616537094116, -2.771268129348755, -2.9508564472198486, -2.7826988697052, 0.16821147501468658, -3.01689076423645, 0.0 ], "max": [ 2.753600597381592, 1.6668277978897095, 2.7745442390441895, -0.1839631199836731, 2.781451463699341, 4.402013778686523, 2.90183162689209, 1.0 ], "mean": [ 0.013474741019308567, 0.24693654477596283, -0.014321208000183105, -2.019535541534424, -0.03537853807210922, 2.3251538276672363, 0.08422669023275375, 0.40256407856941223 ], "std": [ 0.32806217670440674, 0.5107817649841309, 0.29171350598335266, 0.5062472224235535, 0.539327085018158, 0.4723028242588043, 0.7517545819282532, 0.43835291266441345 ], "count": [ 27593531 ] }, "is_terminal": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.003413698635995388 ], "std": [ 0.05832705646753311 ], "count": [ 27593531 ] }, "observation.images.exterior_2_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.3972812309309666 ] ], [ [ 0.39556941968886117 ] ], [ [ 0.35775132712389635 ] ] ], "std": [ [ [ 0.06391811864267134 ] ], [ [ 0.06275304465073439 ] ], [ [ 0.07471199481470012 ] ] ], "count": [ 9880399 ], "q01": [ [ [ 0.01175556390437388 ] ], [ [ 0.01582203570680745 ] ], [ [ 0.0063240794197805044 ] ] ], "q10": [ [ [ 0.08439292707465929 ] ], [ [ 0.0867971628446957 ] ], [ [ 0.06715661535817237 ] ] ], "q50": [ [ [ 0.36801181016125734 ] ], [ [ 0.3611717604913456 ] ], [ [ 0.3138531184264421 ] ] ], "q90": [ [ [ 0.7661055475953392 ] ], [ [ 0.7684689582053783 ] ], [ [ 0.7289106761297804 ] ] ], "q99": [ [ [ 0.9302675024008226 ] ], [ [ 0.9448612597398283 ] ], [ [ 0.9314720770091105 ] ] ] }, "action.original": { "min": [ -0.2824200689792633, -0.8714114427566528, -0.3079752027988434, -3.141592502593994, -1.570475697517395, -3.1415903568267822, 0.0 ], "max": [ 0.9295652508735657, 0.8648782968521118, 1.1109716892242432, 3.1415927410125732, 1.5702463388442993, 3.1415891647338867, 1.0 ], "mean": [ 0.5221056342124939, 0.0002637815778143704, 0.3207622170448303, 0.3008587658405304, -0.08901173621416092, -0.05116188898682594, 0.40256407856941223 ], "std": [ 0.11978457123041153, 0.18009665608406067, 0.1663578450679779, 2.911367177963257, 0.36295992136001587, 0.7709128856658936, 0.43835291266441345 ], "count": [ 27593531 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 3190.0 ], "mean": [ 232.0498504638672 ], "std": [ 244.25155639648438 ], "count": [ 27593531 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 212.6666717529297 ], "mean": [ 15.469989776611328 ], "std": [ 16.283437728881836 ], "count": [ 27593531 ] }, "discount": { "min": [ 1.0 ], "max": [ 1.0 ], "mean": [ 1.0 ], "std": [ 0.0 ], "count": [ 27593531 ] }, "is_last": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.003413698635995388 ], "std": [ 0.05832705646753311 ], "count": [ 27593531 ] }, "is_episode_successful": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.8482838869094849 ], "std": [ 0.3587455153465271 ], "count": [ 27593531 ] }, "observation.state.joint_position": { "min": [ -2.672288417816162, -1.6589547395706177, -2.6781487464904785, -2.9409868717193604, -2.6705946922302246, 0.23991677165031433, -3.01689076423645 ], "max": [ 2.677424192428589, 1.5840554237365723, 2.6957037448883057, -0.29779934883117676, 2.6624162197113037, 4.309162616729736, 2.755643367767334 ], "mean": [ 0.014295287430286407, 0.24081715941429138, -0.014694181270897388, -2.0274274349212646, -0.03551638126373291, 2.323869466781616, 0.08334964513778687 ], "std": [ 0.32460251450538635, 0.5153817534446716, 0.2902102768421173, 0.5022139549255371, 0.5334727168083191, 0.46852707862854004, 0.745053231716156 ], "count": [ 27593531 ] }, "observation.state.cartesian_position": { "min": [ -0.2824079692363739, -0.8556680083274841, -0.24001094698905945, -3.141592502593994, -1.5703768730163574, -3.141592025756836 ], "max": [ 0.8575563430786133, 0.8407337069511414, 1.0439032316207886, 3.1415927410125732, 1.5705928802490234, 3.1415927410125732 ], "mean": [ 0.5196583867073059, 0.00046073345583863556, 0.3202384114265442, 0.31293532252311707, -0.0861232653260231, -0.04997635260224342 ], "std": [ 0.11891169846057892, 0.17903749644756317, 0.16564321517944336, 2.9132652282714844, 0.35987532138824463, 0.7636402249336243 ], "count": [ 27593531 ] }, "action.cartesian_velocity": { "min": [ -0.9999999403953552, -0.9999951124191284, -0.9999960660934448, -0.9999980330467224, -0.9999982118606567, -0.9999998807907104 ], "max": [ 0.9999998211860657, 0.999991774559021, 0.9999973177909851, 0.9999874830245972, 0.9999978542327881, 0.9999998807907104 ], "mean": [ 0.026182251051068306, -0.0027229285333305597, 0.012251785956323147, 0.0038039200007915497, -0.027584366500377655, -0.007126705255359411 ], "std": [ 0.2602247893810272, 0.1865473836660385, 0.23276342451572418, 0.22727157175540924, 0.23415838181972504, 0.29525911808013916 ], "count": [ 27593531 ] } }, "fastumi-single": { "robot_0_state": { "min": [ 0.16783231496810913, -0.4733705222606659, -0.029907960444688797, -0.7064692378044128, -0.7034944295883179, -0.7067700624465942, -0.7067300081253052, 0.0 ], "max": [ 0.8162788152694702, 0.5630566477775574, 0.6486696004867554, 0.8626904487609863, 0.9015395045280457, 0.896087110042572, 1.0, 1.0 ], "mean": [ 0.46035856008529663, 0.04662776738405228, 0.16694755852222443, 0.023725446313619614, 0.17515894770622253, 0.028846340253949165, 0.955112636089325, 0.6913004517555237 ], "std": [ 0.10503510385751724, 0.1555015593767166, 0.07602933794260025, 0.09887661039829254, 0.17097152769565582, 0.11678462475538254, 0.05511525273323059, 0.3905705511569977 ], "count": [ 32855105 ] }, "index": { "min": [ 0.0 ], "max": [ 3806150.0 ], "mean": [ 487690.78125 ], "std": [ 689551.3125 ], "count": [ 32855105 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 3059.0 ], "mean": [ 672.5223388671875 ], "std": [ 608.547607421875 ], "count": [ 32855105 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 2402.0 ], "mean": [ 367.20062255859375 ], "std": [ 428.155029296875 ], "count": [ 32855105 ] }, "task_index": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 32855105 ] }, "action": { "min": [ -0.47684693336486816, -0.7050237059593201, -0.5167257189750671, -1.5473544597625732, -1.462168574333191, -1.4989490509033203, -1.6755647659301758, 0.0 ], "max": [ 0.5106016397476196, 0.5524647235870361, 0.47073498368263245, 1.5405211448669434, 1.4977413415908813, 1.465078592300415, 1.6809006929397583, 1.0 ], "mean": [ 0.0010269561316817999, 0.0002952478243969381, 0.000750698905903846, 0.00012276294000912458, -0.0004030309210065752, 2.6794355107995216e-06, -6.216725887497887e-05, 0.6682618856430054 ], "std": [ 0.07572785019874573, 0.09453349560499191, 0.07927703857421875, 0.062116436660289764, 0.13433071970939636, 0.07616184651851654, 0.04362959787249565, 0.3940598666667938 ], "count": [ 1471948600 ] }, "observation.state": { "min": [ 0.16783231496810913, -0.4733705222606659, -0.029907960444688797, -0.7064692378044128, -0.7034944295883179, -0.7067700624465942, -0.7067300081253052, 0.0 ], "max": [ 0.8162788152694702, 0.5630566477775574, 0.6486696004867554, 0.8626904487609863, 0.9015395045280457, 0.896087110042572, 1.0, 1.0 ], "mean": [ 0.46035856008529663, 0.04662776738405228, 0.16694755852222443, 0.023725446313619614, 0.17515894770622253, 0.028846340253949165, 0.955112636089325, 0.6913004517555237 ], "std": [ 0.10503510385751724, 0.1555015593767166, 0.07602933794260025, 0.09887661039829254, 0.17097152769565582, 0.11678462475538254, 0.05511525273323059, 0.3905705511569977 ], "count": [ 32855105 ] }, "observation.images.front": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.2713396395890848 ] ], [ [ 0.27119941932153974 ] ], [ [ 0.25834394288165013 ] ] ], "std": [ [ [ 0.2578876520539233 ] ], [ [ 0.2604841462429187 ] ], [ [ 0.2614595653944343 ] ] ], "count": [ 89658 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 120.0999984741211 ], "mean": [ 18.36004638671875 ], "std": [ 21.40774154663086 ], "count": [ 32855105 ] } }, "ARX AC One": { "actions.right_ee_to_right_armbase_pose": { "min": [ -0.1254996359348297, -0.30651596188545227, -0.06259922683238983, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.5930792093276978, 0.49891194701194763, 0.4810696840286255, 0.9999993443489075, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.32761773467063904, 0.005551646463572979, 0.12168571352958679, 0.8137820959091187, 0.03513728454709053, 0.48961302638053894, 0.0005592189263552427 ], "std": [ 0.12657275795936584, 0.12012190371751785, 0.07738341391086578, 0.11823592334985733, 0.09532790631055832, 0.2580658793449402, 0.08448789268732071 ], "count": [ 1717873 ] }, "hand_left_camera_intrinsics": { "min": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "max": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "mean": [ 433.89019775390625, 433.3804016113281, 319.9999694824219, 239.99998474121094 ], "std": [ 0.1767766922712326, 0.0, 0.3061862289905548, 0.22534695267677307 ], "count": [ 1717873 ] }, "states.right_joint.position": { "min": [ -1.4352991580963135, -0.866104781627655, -0.5735385417938232, -1.6710286140441895, -0.9355536699295044, -1.0480438470840454 ], "max": [ 1.0366250276565552, 3.25364089012146, 3.4066476821899414, 1.6728498935699463, 0.8221467733383179, 1.5554733276367188 ], "mean": [ -0.016515374183654785, 1.8477139472961426, 1.2517927885055542, -0.47723209857940674, -0.03883177787065506, 0.03444031625986099 ], "std": [ 0.3017275631427765, 0.8069456219673157, 0.795396089553833, 0.5538317561149597, 0.2024678885936737, 0.24060316383838654 ], "count": [ 1717873 ] }, "images.rgb.head": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 0.8823529411764706 ] ], [ [ 0.8784313725490196 ] ], [ [ 0.9176470588235294 ] ] ], "mean": [ [ [ 0.46609540806605576 ] ], [ [ 0.50668060458635 ] ], [ [ 0.5050248936673355 ] ] ], "std": [ [ [ 0.23961611906470223 ] ], [ [ 0.20145873297584194 ] ], [ [ 0.18294988745022903 ] ] ], "count": [ 279732 ] }, "actions.left_gripper.position": { "min": [ 0.00041704135946929455 ], "max": [ 3.0405640602111816 ], "mean": [ 0.05872529745101929 ], "std": [ 0.26318952441215515 ], "count": [ 82894850 ] }, "states.left_gripper.position": { "min": [ 0.00041704135946929455 ], "max": [ 3.0405640602111816 ], "mean": [ 0.058757390826940536 ], "std": [ 0.26018843054771423 ], "count": [ 1717873 ] }, "states.right_ee_to_right_armbase_pose": { "min": [ -0.1254996359348297, -0.30651596188545227, -0.06259922683238983, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.5930792093276978, 0.49891194701194763, 0.4810696840286255, 1.0, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.3274987041950226, 0.005550650414079428, 0.1216348186135292, 0.8137974143028259, 0.03514617681503296, 0.48949113488197327, 0.0005544559680856764 ], "std": [ 0.1266920417547226, 0.12011942267417908, 0.07732880860567093, 0.11825406551361084, 0.09532060474157333, 0.25824248790740967, 0.08448443561792374 ], "count": [ 1717873 ] }, "hand_right_camera_intrinsics": { "min": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "max": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "mean": [ 433.89019775390625, 433.3804016113281, 319.9999694824219, 239.99998474121094 ], "std": [ 0.1767766922712326, 0.0, 0.3061862289905548, 0.22534695267677307 ], "count": [ 1717873 ] }, "hand_left_camera_to_robot_extrinsics": { "min": [ 0.20751804113388062, 0.0076653785072267056, 0.6364070177078247, -0.5093733072280884, -0.7070450186729431, -0.7070683240890503, -0.5771383047103882 ], "max": [ 0.8394441604614258, 0.5618410706520081, 1.1961337327957153, 0.6754628419876099, 0.8732888102531433, 0.8476153016090393, 0.6074472069740295 ], "mean": [ 0.5542497634887695, 0.28332674503326416, 0.8873167037963867, -0.027367645874619484, -0.02415105514228344, 0.09326878190040588, 0.02197575569152832 ], "std": [ 0.13108226656913757, 0.09164659678936005, 0.12708310782909393, 0.1727280169725418, 0.6847475171089172, 0.6834076642990112, 0.1540304571390152 ], "count": [ 1717873 ] }, "actions.right_joint.position": { "min": [ -1.1358366012573242, -2.2352423667907715, -2.8143277168273926, -2.6319503784179688, -0.9436231851577759, -1.4963278770446777 ], "max": [ 1.4959731101989746, 2.359403133392334, 1.7700135707855225, 2.0025110244750977, 1.2230077981948853, 1.204487681388855 ], "mean": [ 0.00011418909707572311, 0.022142842411994934, 0.015898223966360092, -0.0010388254886493087, 3.968890450778417e-05, -0.0004588434530887753 ], "std": [ 0.12364381551742554, 0.3148588538169861, 0.32391202449798584, 0.22703386843204498, 0.12290939688682556, 0.11200368404388428 ], "count": [ 82894850 ] }, "master_actions.left_gripper.openness": { "min": [ -0.0 ], "max": [ 1.0 ], "mean": [ 0.5701907277107239 ], "std": [ 0.44183990359306335 ], "count": [ 1717873 ] }, "frame_index": { "min": [ 0.0 ], "max": [ 1868.0 ], "mean": [ 709.2461547851562 ], "std": [ 417.8592529296875 ], "count": [ 1717873 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 62.266666412353516 ], "mean": [ 23.641578674316406 ], "std": [ 13.928594589233398 ], "count": [ 1717873 ] }, "master_actions.left_joint.position": { "min": [ -1.121071696281433, -0.2511731684207916, -0.27925699949264526, -1.5184122323989868, -0.8441178798675537, -0.9553975462913513 ], "max": [ 1.0674233436584473, 3.2583398818969727, 3.02968692779541, 1.6716006994247437, 0.7799276113510132, 1.0141535997390747 ], "mean": [ 0.09712570905685425, 1.7173099517822266, 1.1697887182235718, -0.37932923436164856, 0.04183138906955719, 0.09956953674554825 ], "std": [ 0.2840951979160309, 0.7291100025177002, 0.6994003653526306, 0.4014756679534912, 0.14950917661190033, 0.20168361067771912 ], "count": [ 1717873 ] }, "actions.right_tcp_to_robot_pose": { "min": [ 0.076499342918396, -0.617209255695343, 0.536528468132019, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.871540367603302, 0.3444368243217468, 1.278739094734192, 0.9999993443489075, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.5375806093215942, -0.23702700436115265, 0.7414335608482361, 0.8137820959091187, 0.03513728454709053, 0.48961302638053894, 0.0005592189263552427 ], "std": [ 0.10156367719173431, 0.13162577152252197, 0.11326783150434494, 0.11823592334985733, 0.09532790631055832, 0.2580658793449402, 0.08448789268732071 ], "count": [ 1717873 ] }, "actions.left_tcp_to_left_armbase_pose": { "min": [ 0.08666352927684784, -0.24012356996536255, -0.18683648109436035, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.6825438737869263, 0.3219861686229706, 0.3647157549858093, 0.9999992251396179, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.3957095444202423, 0.039902254939079285, 0.04956922307610512, 0.8685203194618225, 0.029647404327988625, 0.43410512804985046, 0.012969966977834702 ], "std": [ 0.1134709045290947, 0.09715516865253448, 0.1259019821882248, 0.09120572358369827, 0.048436667770147324, 0.20262128114700317, 0.06677035242319107 ], "count": [ 1717873 ] }, "states.right_ee_to_robot_pose": { "min": [ 0.028500361368060112, -0.5555159449577332, 0.6674007773399353, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.7470791935920715, 0.24991193413734436, 1.2110697031021118, 1.0, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.4814990758895874, -0.24344933032989502, 0.8516355156898499, 0.8137974143028259, 0.03514617681503296, 0.48949113488197327, 0.0005544559680856764 ], "std": [ 0.12669110298156738, 0.12011934071779251, 0.07731937617063522, 0.11825406551361084, 0.09532060474157333, 0.25824248790740967, 0.08448443561792374 ], "count": [ 1717873 ] }, "master_actions.left_gripper.position": { "min": [ 0.00041704135946929455 ], "max": [ 3.0405640602111816 ], "mean": [ 0.058757390826940536 ], "std": [ 0.26018843054771423 ], "count": [ 1717873 ] }, "actions.left_ee_to_left_armbase_pose": { "min": [ 0.03691039979457855, -0.21974316239356995, -0.04894385486841202, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.5911837220191956, 0.3062589168548584, 0.4119780361652374, 0.9999992251396179, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.31594884395599365, 0.032064832746982574, 0.15748882293701172, 0.8685203194618225, 0.029647404327988625, 0.43410512804985046, 0.012969966977834702 ], "std": [ 0.12580952048301697, 0.08511533588171005, 0.09843224287033081, 0.09120572358369827, 0.048436667770147324, 0.20262128114700317, 0.06677035242319107 ], "count": [ 1717873 ] }, "episode_index": { "min": [ 0.0 ], "max": [ 1223.0 ], "mean": [ 633.3461303710938 ], "std": [ 344.5468444824219 ], "count": [ 1717873 ] }, "actions.left_joint.position": { "min": [ -0.8911924362182617, -1.7919434309005737, -2.2512366771698, -2.144493341445923, -1.003490924835205, -0.8838821053504944 ], "max": [ 1.214184284210205, 2.2888383865356445, 2.104492664337158, 2.107422113418579, 0.8472939729690552, 0.7652308344841003 ], "mean": [ 0.006863399874418974, 0.02517789416015148, 0.020715413615107536, -0.00755142979323864, 0.002534243045374751, 0.004390777088701725 ], "std": [ 0.07830964773893356, 0.29752829670906067, 0.2639148533344269, 0.18535836040973663, 0.06482800841331482, 0.0555315800011158 ], "count": [ 82894850 ] }, "states.left_ee_to_left_armbase_pose": { "min": [ 0.03691039979457855, -0.21974316239356995, -0.04894385486841202, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.5911837220191956, 0.3062589168548584, 0.4119780361652374, 0.9999994039535522, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.31581833958625793, 0.03199279308319092, 0.1574288308620453, 0.8685621023178101, 0.029630238190293312, 0.43390533328056335, 0.012929066084325314 ], "std": [ 0.1259230226278305, 0.08508162945508957, 0.09840026497840881, 0.09125864505767822, 0.048425182700157166, 0.20286308228969574, 0.06674658507108688 ], "count": [ 1717873 ] }, "actions.left_ee_to_robot_pose": { "min": [ 0.19091039896011353, 0.03125683590769768, 0.6810561418533325, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.7451837062835693, 0.5572589039802551, 1.1419780254364014, 0.9999992251396179, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.4699488878250122, 0.28306490182876587, 0.8874886631965637, 0.8685203194618225, 0.029647404327988625, 0.43410512804985046, 0.012969966977834702 ], "std": [ 0.12580978870391846, 0.08511584252119064, 0.09843318909406662, 0.09120572358369827, 0.048436667770147324, 0.20262128114700317, 0.06677035242319107 ], "count": [ 1717873 ] }, "actions.right_ee_to_robot_pose": { "min": [ 0.028500361368060112, -0.5555159449577332, 0.6674007773399353, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.7470791935920715, 0.24991193413734436, 1.2110697031021118, 0.9999993443489075, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.4816175699234009, -0.24344830214977264, 0.8516860604286194, 0.8137820959091187, 0.03513728454709053, 0.48961302638053894, 0.0005592189263552427 ], "std": [ 0.12657243013381958, 0.12012197822332382, 0.07737910002470016, 0.11823592334985733, 0.09532790631055832, 0.2580658793449402, 0.08448789268732071 ], "count": [ 1717873 ] }, "images.rgb.hand_left": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 0.9803921568627451 ] ], [ [ 0.9686274509803922 ] ], [ [ 0.9529411764705882 ] ] ], "mean": [ [ [ 0.4303526390373738 ] ], [ [ 0.46766906321748103 ] ], [ [ 0.4645714200756312 ] ] ], "std": [ [ [ 0.25925085582990187 ] ], [ [ 0.23179819707185528 ] ], [ [ 0.21186466425563288 ] ] ], "count": [ 279732 ] }, "states.right_tcp_to_right_armbase_pose": { "min": [ -0.07750065624713898, -0.36820924282073975, -0.19347155094146729, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.7175403237342834, 0.5934368371963501, 0.5487391352653503, 1.0, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.3834702968597412, 0.011970925144851208, 0.01141709741204977, 0.8137974143028259, 0.03514617681503296, 0.48949113488197327, 0.0005544559680856764 ], "std": [ 0.10160760581493378, 0.13162347674369812, 0.11325301229953766, 0.11825406551361084, 0.09532060474157333, 0.25824248790740967, 0.08448443561792374 ], "count": [ 1717873 ] }, "states.left_tcp_to_left_armbase_pose": { "min": [ 0.08666352927684784, -0.24012356996536255, -0.18683648109436035, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.6825438737869263, 0.3219861686229706, 0.3647157549858093, 0.9999994039535522, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.395603746175766, 0.039816245436668396, 0.04956414923071861, 0.8685621023178101, 0.029630238190293312, 0.43390533328056335, 0.012929066084325314 ], "std": [ 0.11352407932281494, 0.09711753576993942, 0.1258927434682846, 0.09125864505767822, 0.048425182700157166, 0.20286308228969574, 0.06674658507108688 ], "count": [ 1717873 ] }, "actions.left_tcp_to_robot_pose": { "min": [ 0.2406635284423828, 0.010876426473259926, 0.543163537979126, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.8365438580513, 0.5729861855506897, 1.0947157144546509, 0.9999992251396179, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.5497100949287415, 0.2909022569656372, 0.7795698642730713, 0.8685203194618225, 0.029647404327988625, 0.43410512804985046, 0.012969966977834702 ], "std": [ 0.11346709728240967, 0.09715516120195389, 0.12590107321739197, 0.09120572358369827, 0.048436667770147324, 0.20262128114700317, 0.06677035242319107 ], "count": [ 1717873 ] }, "states.left_ee_to_robot_pose": { "min": [ 0.19091039896011353, 0.03125683590769768, 0.6810561418533325, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.7451837062835693, 0.5572589039802551, 1.1419780254364014, 0.9999994039535522, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.4698185920715332, 0.28299304842948914, 0.887428879737854, 0.8685621023178101, 0.029630238190293312, 0.43390533328056335, 0.012929066084325314 ], "std": [ 0.1259227842092514, 0.08508069068193436, 0.0983947291970253, 0.09125864505767822, 0.048425182700157166, 0.20286308228969574, 0.06674658507108688 ], "count": [ 1717873 ] }, "index": { "min": [ 0.0 ], "max": [ 1717872.0 ], "mean": [ 858935.6875 ], "std": [ 495907.9375 ], "count": [ 1717873 ] }, "task_index": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.8517539501190186 ], "std": [ 0.3553437292575836 ], "count": [ 1717873 ] }, "head_camera_to_robot_extrinsics": { "min": [ 0.2541179955005646, 0.001006699982099235, 1.0199999809265137, -0.17936837673187256, 0.683978796005249, -0.683978796005249, 0.17936837673187256 ], "max": [ 0.2541179955005646, 0.001006699982099235, 1.0199999809265137, -0.17936837673187256, 0.683978796005249, -0.683978796005249, 0.17936837673187256 ], "mean": [ 0.25411781668663025, 0.0010067012626677752, 1.0200002193450928, -0.17936855554580688, 0.6839786171913147, -0.6839786171913147, 0.17936855554580688 ], "std": [ 0.00035589304752647877, 0.0, 0.0, 0.0, 0.000732421875, 0.000732421875, 0.0 ], "count": [ 1717873 ] }, "hand_right_camera_to_robot_extrinsics": { "min": [ -0.00815359503030777, -0.5945305228233337, 0.6003329157829285, -0.46020588278770447, -0.7070299386978149, -0.7070797681808472, -0.6983531713485718 ], "max": [ 0.839177668094635, 0.2979563772678375, 1.2542698383331299, 0.46527260541915894, 0.9389417171478271, 0.8964168429374695, 0.8366112112998962 ], "mean": [ 0.5583369135856628, -0.24335114657878876, 0.8383228182792664, 0.001387464813888073, -0.16976243257522583, 0.24501051008701324, 0.022495049983263016 ], "std": [ 0.1331218034029007, 0.12768439948558807, 0.11337880790233612, 0.191217303276062, 0.6409263610839844, 0.6404314041137695, 0.23052221536636353 ], "count": [ 1717873 ] }, "actions.right_gripper.position": { "min": [ -5.020558546675602e-07 ], "max": [ 0.04422180727124214 ], "mean": [ 0.017311690375208855 ], "std": [ 0.016448870301246643 ], "count": [ 82894850 ] }, "actions.right_tcp_to_right_armbase_pose": { "min": [ -0.07750065624713898, -0.36820924282073975, -0.19347155094146729, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.7175403237342834, 0.5934368371963501, 0.5487391352653503, 0.9999993443489075, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.3835802972316742, 0.011973205953836441, 0.011432506144046783, 0.8137820959091187, 0.03513728454709053, 0.48961302638053894, 0.0005592189263552427 ], "std": [ 0.10156558454036713, 0.13162629306316376, 0.1132788211107254, 0.11823592334985733, 0.09532790631055832, 0.2580658793449402, 0.08448789268732071 ], "count": [ 1717873 ] }, "states.left_joint.position": { "min": [ -1.121071696281433, -0.2511731684207916, -0.27925699949264526, -1.5184122323989868, -0.8441178798675537, -0.9553975462913513 ], "max": [ 1.0674233436584473, 3.2583398818969727, 3.02968692779541, 1.6716006994247437, 0.7799276113510132, 1.0141535997390747 ], "mean": [ 0.09712570905685425, 1.7173099517822266, 1.1697887182235718, -0.37932923436164856, 0.04183138906955719, 0.09956953674554825 ], "std": [ 0.2840951979160309, 0.7291100025177002, 0.6994003653526306, 0.4014756679534912, 0.14950917661190033, 0.20168361067771912 ], "count": [ 1717873 ] }, "images.rgb.hand_right": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.3723431042474108 ] ], [ [ 0.4218097220383682 ] ], [ [ 0.4297596960963176 ] ] ], "std": [ [ [ 0.2489803639664986 ] ], [ [ 0.21931337699084874 ] ], [ [ 0.20090385793365778 ] ] ], "count": [ 279732 ] }, "states.right_gripper.position": { "min": [ -5.020558546675602e-07 ], "max": [ 0.045000024139881134 ], "mean": [ 0.018173564225435257 ], "std": [ 0.016833432018756866 ], "count": [ 1717873 ] }, "states.left_tcp_to_robot_pose": { "min": [ 0.2406635284423828, 0.010876426473259926, 0.543163537979126, 0.6423138380050659, -0.26428332924842834, -0.25366124510765076, -0.4757578670978546 ], "max": [ 0.8365438580513, 0.5729861855506897, 1.0947157144546509, 0.9999994039535522, 0.3976175785064697, 0.7642307877540588, 0.2711763083934784 ], "mean": [ 0.5496038794517517, 0.29081669449806213, 0.7795647978782654, 0.8685621023178101, 0.029630238190293312, 0.43390533328056335, 0.012929066084325314 ], "std": [ 0.11352211236953735, 0.0971163883805275, 0.12588711082935333, 0.09125864505767822, 0.048425182700157166, 0.20286308228969574, 0.06674658507108688 ], "count": [ 1717873 ] }, "states.right_tcp_to_robot_pose": { "min": [ 0.076499342918396, -0.617209255695343, 0.536528468132019, 0.5037817358970642, -0.31556326150894165, -0.5278054475784302, -0.6736788749694824 ], "max": [ 0.871540367603302, 0.3444368243217468, 1.278739094734192, 1.0, 0.5138790607452393, 0.8515863418579102, 0.43042758107185364 ], "mean": [ 0.5374699831008911, -0.23702919483184814, 0.7414172887802124, 0.8137974143028259, 0.03514617681503296, 0.48949113488197327, 0.0005544559680856764 ], "std": [ 0.1016097292304039, 0.13162335753440857, 0.11325467377901077, 0.11825406551361084, 0.09532060474157333, 0.25824248790740967, 0.08448443561792374 ], "count": [ 1717873 ] }, "head_camera_intrinsics": { "min": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "max": [ 433.8900146484375, 433.3800048828125, 320.0, 240.0 ], "mean": [ 433.89019775390625, 433.3804016113281, 319.9999694824219, 239.99998474121094 ], "std": [ 0.1767766922712326, 0.0, 0.3061862289905548, 0.22534695267677307 ], "count": [ 1717873 ] }, "master_actions.right_gripper.openness": { "min": [ -0.0 ], "max": [ 1.0 ], "mean": [ 0.4077882766723633 ], "std": [ 0.390937477350235 ], "count": [ 1717873 ] }, "master_actions.right_gripper.position": { "min": [ -5.020558546675602e-07 ], "max": [ 0.045000024139881134 ], "mean": [ 0.018173564225435257 ], "std": [ 0.016833432018756866 ], "count": [ 1717873 ] }, "master_actions.right_joint.position": { "min": [ -1.4352991580963135, -0.866104781627655, -0.5735385417938232, -1.6710286140441895, -0.9355536699295044, -1.0480438470840454 ], "max": [ 1.0366250276565552, 3.25364089012146, 3.4066476821899414, 1.6728498935699463, 0.8221467733383179, 1.5554733276367188 ], "mean": [ -0.016515374183654785, 1.8477139472961426, 1.2517927885055542, -0.47723209857940674, -0.03883177787065506, 0.03444031625986099 ], "std": [ 0.3017275631427765, 0.8069456219673157, 0.795396089553833, 0.5538317561149597, 0.2024678885936737, 0.24060316383838654 ], "count": [ 1717873 ] }, "states.robot_to_env_pose": { "min": [ 0.0, 0.0, 0.17000000178813934, 1.0, 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.17000000178813934, 1.0, 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.1700001358985901, 1.0, 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "count": [ 1717873 ] } } }