{ "observation.images.sawyer": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.45831475591208287 ] ], [ [ 0.4358418727592828 ] ], [ [ 0.4417566659767741 ] ] ], "std": [ [ [ 0.2721363703619915 ] ], [ [ 0.22480494474096102 ] ], [ [ 0.22694500212600596 ] ] ], "count": [ 7589 ] }, "observation.kuka_iiwa.ee_error": { "min": [ -0.005245707929134369, -5.0067901611328125e-06, -0.00022971630096435547, -0.16466164588928223, -0.017362236976623535, -2.1457672119140625e-05, -0.1737995147705078 ], "max": [ 0.005845755338668823, 0.01811152696609497, 0.0034494935534894466, 8.85501503944397e-05, 1.7404556274414062e-05, 0.02182561159133911, 1.7471611499786377e-05 ], "mean": [ 3.885022573374019e-05, 0.0012427111412788823, 0.00021984252522995506, -0.009047799750972172, -0.0008288559948065081, 0.0010059158213802, -0.011286218047200456 ], "std": [ 0.0009942598930209815, 0.0031371003068961442, 0.000615641659502855, 0.024304825893810465, 0.002357807232329698, 0.0029105004812190216, 0.02886365670527684 ], "count": [ 7760 ] }, "observation.ur5e.ee_pose": { "min": [ -0.36487090587615967, -0.6300777792930603, -0.05749231204390526, -0.004280205350369215, -0.6406304836273193, 0.7677360773086548, -0.0033132433891296387 ], "max": [ 0.21048380434513092, -0.2686367332935333, 0.15814577043056488, 0.059649333357810974, -0.5710153579711914, 0.8200774788856506, 0.058945927768945694 ], "mean": [ -0.09807369027013133, -0.4305853548123664, 0.05140863038934335, 0.028106893029738428, -0.5948428767166801, 0.8025280468165874, 0.025462893378943655 ], "std": [ 0.13119925880451216, 0.08531537747918685, 0.048138262567196374, 0.012586637093307504, 0.016248409533433678, 0.01208916556752878, 0.010186593342032252 ], "count": [ 7760 ] }, "observation.kuka_iiwa.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "observation.sawyer.joints": { "min": [ -2.944045305252075, -1.416311502456665, -0.8676832914352417, 0.9190523624420166, -2.267542839050293, -1.2258754968643188, -3.495591402053833, -0.00123199715744704 ], "max": [ -0.3214922547340393, 0.07040637731552124, 0.7597234845161438, 2.7041635513305664, 0.04270526394248009, 0.9512086510658264, 0.3265351951122284, 1.3823007345199585 ], "mean": [ -1.5068365690634422, -0.4643130225028612, -0.4526591472750165, 1.6731840668572593, -1.7120911632923737, -0.502006631482815, -0.9088252798294092, 0.7808489890788326 ], "std": [ 0.4876454647470399, 0.3306315813073739, 0.4992845048953498, 0.3420667972617306, 0.7031191050739063, 0.631876793403857, 0.9429702590650142, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.xarm7.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.ur5e.ee_error": { "min": [ -7.335096597671509e-06, 1.1920928955078125e-07, -6.541609764099121e-06, -0.0001239953562617302, -3.629922866821289e-05, -2.574920654296875e-05, -0.00015363655984401703 ], "max": [ -1.7881393432617188e-06, 9.804964065551758e-06, -1.0132789611816406e-06, 1.5165656805038452e-05, 2.205371856689453e-05, 1.9609928131103516e-05, -3.334134817123413e-05 ], "mean": [ -3.854731189922512e-06, 4.149516357158776e-06, -2.9850310172382847e-06, -3.2914426660787264e-05, -8.88189860347043e-06, -2.846797719135298e-06, -8.77559922497012e-05 ], "std": [ 9.790870499041372e-07, 2.1694972134288736e-06, 8.394651120910275e-07, 2.5775888260488573e-05, 1.2141037460688046e-05, 8.73548150641764e-06, 2.0220074269976396e-05 ], "count": [ 7760 ] }, "task_index": { "min": [ 0 ], "max": [ 43 ], "mean": [ 15.47938144329897 ], "std": [ 11.795381222075385 ], "count": [ 7760 ] }, "observation.joints": { "min": [ -2.3249218463897705, 3.5735104084014893, 0.85037761926651, -0.671103835105896, 0.059750255197286606, -1.2913254499435425, -0.00123199715744704 ], "max": [ -0.8401559591293335, 4.536811351776123, 2.664599657058716, 6.347746849060059, 1.9511367082595825, 0.27325791120529175, 1.3823007345199585 ], "mean": [ -1.4875712279422382, 3.9938998803342742, 1.5682326430435647, 0.3741614171428625, 0.9278744902615388, -0.4574913981601058, 0.7808489890788326 ], "std": [ 0.3083983158208968, 0.17614677208981536, 0.35875656283829266, 1.9107270015218378, 0.3100675480900718, 0.29699137627532884, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.kinova3.ee_error": { "min": [ -4.492700099945068e-06, 1.7881393432617188e-07, -9.18656587600708e-06, -0.00016407202929258347, -3.3855438232421875e-05, -2.193450927734375e-05, -0.0002721198834478855 ], "max": [ 9.238719940185547e-07, 1.0788440704345703e-05, -1.385807991027832e-06, 1.835078001022339e-05, 2.282857894897461e-05, 2.586841583251953e-05, -4.2553991079330444e-05 ], "mean": [ -1.8001083520805985e-06, 5.702063725896823e-06, -4.285809977825911e-06, -6.071368880656309e-05, -8.456954349169263e-06, 5.47655728521536e-09, -0.00014018111446556262 ], "std": [ 7.320269645567505e-07, 1.7027330609435414e-06, 1.377394045579524e-06, 3.0270135117535978e-05, 1.1142104540654827e-05, 8.21045807676836e-06, 3.6130627544721e-05 ], "count": [ 7760 ] }, "observation.kinova3.joints": { "min": [ 0.5259018540382385, 0.33800622820854187, 0.07431024312973022, 0.7573083639144897, -0.5163171291351318, 0.24510623514652252, -0.6532615423202515, -0.00123199715744704 ], "max": [ 2.206401824951172, 1.2578556537628174, 0.6529093384742737, 2.2960188388824463, -0.16505751013755798, 1.4779000282287598, 0.8472464680671692, 1.3823007345199585 ], "mean": [ 1.4773046648533075, 0.7656822769220957, 0.40867323538806943, 1.6757811674905807, -0.3642691235950927, 0.854370223400519, 0.181890713039635, 0.7808489890788326 ], "std": [ 0.3334080205268336, 0.16896582122198472, 0.09270283210715284, 0.3053024174467621, 0.05132958214929112, 0.2020555406683702, 0.28100211361844907, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.google_robot.joints": { "min": [ -2.052795171737671, 0.8029820322990417, -1.0214194059371948, -1.011359453201294, -2.6017873287200928, -1.1850439310073853, -2.811089277267456, -0.00123199715744704 ], "max": [ -0.7949032187461853, 2.2890121936798096, 0.3374738097190857, 2.0583043098449707, 0.6769154667854309, 1.7627629041671753, 0.5025501847267151, 1.3823007345199585 ], "mean": [ -1.283974752575159, 1.2712213601878624, 0.11146038507553029, 1.179919353686273, -0.3881235406763528, 0.6767542568217848, -2.124985997977945, 0.7808489890788326 ], "std": [ 0.22641728162791805, 0.25764862700643165, 0.28686847012551403, 0.4845880365149636, 0.49566391490147066, 0.5314368715037414, 0.6155449520048916, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.kuka_iiwa.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.xarm7.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "episode_index": { "min": [ 0 ], "max": [ 107 ], "mean": [ 52.47396907216495 ], "std": [ 30.517129594368075 ], "count": [ 7760 ] }, "observation.widowX.ee_error": { "min": [ -0.018300354480743408, -0.011088430881500244, -0.00548514723777771, -0.21688337624073029, -1.9908801317214966, 0.1837141215801239, -0.02598610520362854 ], "max": [ 0.01978212594985962, 0.003862917423248291, 0.007526613771915436, 0.09157063066959381, -1.8906536102294922, 0.5639872550964355, 0.17519105970859528 ], "mean": [ 0.0002509707919290053, -0.0016228090868649788, 0.0005579714578534173, -0.02070683381744041, -1.9690261172725982, 0.3217516491266409, 0.07245499051665676 ], "std": [ 0.0036909939535643994, 0.0026226265383071006, 0.001264009051737497, 0.04284912615300013, 0.015737929344468094, 0.0626624503919574, 0.028512924589219207 ], "count": [ 7760 ] }, "observation.kuka_iiwa.joints": { "min": [ -2.3645262718200684, 0.5387253761291504, -0.4479389786720276, -2.094399929046631, -0.07171924412250519, 0.06697758287191391, -0.8810337781906128, -0.00123199715744704 ], "max": [ -0.6384984850883484, 1.274651050567627, -0.014624441042542458, -1.1376205682754517, 0.47588491439819336, 1.043091893196106, 0.5835815072059631, 1.3823007345199585 ], "mean": [ -1.5946902026835177, 0.8667885698992567, -0.24499530980037046, -1.8322638732256349, 0.3219352390492316, 0.5923811397832079, -0.1801992268130524, 0.7808489890788326 ], "std": [ 0.32549004548839455, 0.13922472451625625, 0.07981712444194858, 0.2178998423257549, 0.06661313585215285, 0.14887568544824825, 0.27484825155935605, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.sawyer.ee_error": { "min": [ -1.6186386346817017e-05, -7.212162017822266e-06, -4.857778549194336e-06, -4.287436604499817e-05, -0.00013244152069091797, -9.626150131225586e-05, -0.0005315504968166351 ], "max": [ 2.1457672119140625e-06, 1.2606382369995117e-05, 3.427267074584961e-05, 0.00034280773252248764, 1.6033649444580078e-05, 1.9669532775878906e-06, 0.0001777932047843933 ], "mean": [ -5.619358999127568e-06, -1.519753303159482e-06, 4.074064222069546e-06, 0.00015669329427463213, -3.080289707801736e-05, -2.8405891725807246e-05, -9.551140231664736e-07 ], "std": [ 2.8469114980591405e-06, 3.6190896546633273e-06, 2.8625175410352714e-06, 3.735094336651219e-05, 3.676702115434453e-05, 2.3210040482427038e-05, 0.00012917750451865405 ], "count": [ 7760 ] }, "observation.kinova3.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.ur5e.joints": { "min": [ -4.27982234954834, -2.0221943855285645, 1.5488059520721436, -2.7832629680633545, -1.6379520893096924, -0.8938660025596619, -0.00123199715744704 ], "max": [ -2.900974750518799, -0.8792846202850342, 2.6060280799865723, -1.8474427461624146, -1.553751826286316, 0.5519962906837463, 1.3823007345199585 ], "mean": [ -3.64749707490513, -1.3915073707546155, 2.1256557828218665, -2.2317931900012122, -1.5925823164047654, -0.21004153676055007, 0.7808489890788326 ], "std": [ 0.2976194517570299, 0.21754498592699423, 0.2100688322238778, 0.16154636912985254, 0.014010156848598293, 0.2990168283158273, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.images.xarm7": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4824627239900606 ] ], [ [ 0.487232516396498 ] ], [ [ 0.4958202216290556 ] ] ], "std": [ [ [ 0.2791245276752356 ] ], [ [ 0.22329169926535206 ] ], [ [ 0.2243233616549596 ] ] ], "count": [ 7589 ] }, "observation.widowX.base_position": { "min": [ -0.10000000149011612, 0.0, 0.0 ], "max": [ -0.10000000149011612, 0.0, 0.0 ], "mean": [ -0.09999997121637169, 0.0, 0.0 ], "std": [ 7.363987335411383e-08, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.images.widowX": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.44490332511727204 ] ], [ [ 0.4503342433976656 ] ], [ [ 0.460598288247141 ] ] ], "std": [ [ [ 0.27282144565563526 ] ], [ [ 0.21525525845819332 ] ], [ [ 0.21579315813550426 ] ] ], "count": [ 7589 ] }, "observation.ur5e.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.google_robot.ee_error": { "min": [ -0.013278201222419739, -0.014184415340423584, -0.0033507198095321655, -0.0005229674279689789, -0.00232619047164917, -0.0015905499458312988, -0.0005252398550510406 ], "max": [ 9.73045825958252e-06, 6.753206253051758e-05, 0.002003416419029236, 0.08866626024246216, 0.013153135776519775, 0.0084725022315979, 0.08772951364517212 ], "mean": [ -0.0003516592431363269, -0.0005387770683633493, -9.895354220973486e-05, 0.0019926835776178198, 0.0002612668280147604, 0.00012533690775675608, 0.0020166024120503345 ], "std": [ 0.0015469130461277078, 0.0023140471257348263, 0.0005139344307661213, 0.009210335747312396, 0.0015976776235555714, 0.0009162970495850411, 0.009746696084499644 ], "count": [ 7760 ] }, "observation.images.kuka_iiwa": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.46573259896963454 ] ], [ [ 0.4560164045049597 ] ], [ [ 0.4499285927969818 ] ] ], "std": [ [ [ 0.2747431085460527 ] ], [ [ 0.21050989029579711 ] ], [ [ 0.22569224764289156 ] ] ], "count": [ 7589 ] }, "observation.panda.joints": { "min": [ -2.1230523586273193, 0.22575339674949646, -1.181501030921936, -2.58821177482605, -2.8973000049591064, 3.4326274394989014, -2.8973000049591064, -0.00123199715744704 ], "max": [ -0.3160547912120819, 1.1986624002456665, -0.12570403516292572, -1.0939804315567017, -2.0144052505493164, 3.752500057220459, -1.6941875219345093, 1.3823007345199585 ], "mean": [ -1.5561520523554886, 0.6955279540654618, -0.30780543132694727, -1.8768779941594478, -2.8273982445296553, 3.7343689946784187, -2.549818424419644, 0.7808489890788326 ], "std": [ 0.35566634818740406, 0.18539674585381688, 0.18857793334981196, 0.2921940728940356, 0.16186877930208704, 0.0569294828299345, 0.2944299229499024, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.ee_pose": { "min": [ -0.36487269401550293, -0.63007652759552, -0.05749885365366936, -0.6406514048576355, 0.7677204012870789, -0.0034028340596705675, -0.0043841395527124405 ], "max": [ 0.2104806751012802, -0.2686269283294678, 0.15814393758773804, -0.5710324048995972, 0.820070207118988, 0.05889549478888512, 0.05965259671211243 ], "mean": [ -0.09807754452025264, -0.4305812096472868, 0.05140564512380713, -0.5948517607889839, 0.8025251813463329, 0.025375137486094226, 0.028073979119893844 ], "std": [ 0.1311989788578633, 0.0853168922691258, 0.04813878619214606, 0.016249916993494887, 0.01209042030891214, 0.010193246133938568, 0.01259053569447976 ], "count": [ 7760 ] }, "observation.sawyer.ee_pose": { "min": [ -0.3648656904697418, -0.630069375038147, -0.05750018358230591, -0.0045362068340182304, -0.6406207084655762, 0.7677448391914368, -0.0034320522099733353 ], "max": [ 0.2104785293340683, -0.2686258554458618, 0.15814803540706635, 0.059492308646440506, -0.5710163712501526, 0.8200889825820923, 0.0591152049601078 ], "mean": [ -0.09807192463116941, -0.430579696034955, 0.05140157151733556, 0.027917284996203176, -0.5948209616249984, 0.8025536012557364, 0.0253760930680317 ], "std": [ 0.13119851033452237, 0.08531592689405246, 0.04813817299526951, 0.012592427102188736, 0.016244087570143936, 0.012086448267057695, 0.010193936490350443 ], "count": [ 7760 ] }, "observation.images.ur5e": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4390606544349687 ] ], [ [ 0.44585921349902785 ] ], [ [ 0.45522908041733257 ] ] ], "std": [ [ [ 0.27660098947767603 ] ], [ [ 0.22151156105638503 ] ], [ [ 0.22562386510848145 ] ] ], "count": [ 7589 ] }, "observation.images.kinova3": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4573539967134076 ] ], [ [ 0.4619623887961925 ] ], [ [ 0.4707642339079195 ] ] ], "std": [ [ [ 0.2740215752264597 ] ], [ [ 0.21752664975434982 ] ], [ [ 0.2186318225753994 ] ] ], "count": [ 7589 ] }, "timestamp": { "min": [ 0.0 ], "max": [ 12.3 ], "mean": [ 3.883569587628866 ], "std": [ 2.6104536853986073 ], "count": [ 7760 ] }, "observation.sawyer.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.panda.base_position": { "min": [ 0.0, 0.0, 0.0 ], "max": [ 0.0, 0.0, 0.0 ], "mean": [ 0.0, 0.0, 0.0 ], "std": [ 0.0, 0.0, 0.0 ], "count": [ 7760 ] }, "observation.sawyer.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "index": { "min": [ 0 ], "max": [ 7759 ], "mean": [ 3879.5 ], "std": [ 2240.1190258555457 ], "count": [ 7760 ] }, "observation.kuka_iiwa.ee_pose": { "min": [ -0.36486920714378357, -0.6300715804100037, -0.05749635398387909, -0.004421446472406387, -0.6406486630439758, 0.7592628002166748, -0.0032858867198228836 ], "max": [ 0.21265682578086853, -0.286737322807312, 0.15827879309654236, 0.18545670807361603, -0.5622549057006836, 0.8200759887695312, 0.2010420858860016 ], "mean": [ -0.09811639249118971, -0.43182393034785677, 0.051185802527875565, 0.03712177999718499, -0.5940228880066233, 0.8015192691505569, 0.03666135542449954 ], "std": [ 0.13144956541215916, 0.08366344818247215, 0.048147255858508715, 0.023749191698630222, 0.015985963504799167, 0.012852737174485995, 0.031572111828114355 ], "count": [ 7760 ] }, "observation.state": { "min": [ -0.3714989721775055, -0.6619129776954651, 0.15586286783218384, -0.004992426373064518, -0.04570654407143593, 0.9871511459350586, 0.07022564858198166 ], "max": [ 0.222792387008667, -0.2864399552345276, 0.3725491762161255, 0.020579054951667786, 0.017136670649051666, 0.9974504709243774, 0.15836744010448456 ], "mean": [ -0.09662555528874194, -0.4521656655159193, 0.2661664130799856, 0.008404486977822897, -0.015841400431792264, 0.9924566826024621, 0.11912827980272549 ], "std": [ 0.13602844190920005, 0.08829191925681823, 0.04820292174070979, 0.00439462203537651, 0.010627436710114185, 0.002253489760188362, 0.019474560843227476 ], "count": [ 7760 ] }, "observation.widowX.joints": { "min": [ -1.0473759174346924, -0.30032554268836975, -1.7794595956802368, -3.141580104827881, -1.5856342315673828, -3.141580104827881, -0.00123199715744704 ], "max": [ 0.7974393367767334, 1.4686483144760132, 0.8815413117408752, 0.09629207849502563, 2.146749973297119, 0.14634549617767334, 1.3823007345199585 ], "mean": [ -0.24707974729049573, 0.5187985294320879, -0.082870932546879, -0.32217225424033835, 0.9935599338839349, -2.7406385507473012, 0.7808489890788326 ], "std": [ 0.362194078414109, 0.34784040204663785, 0.5368696816291578, 0.8672907132697871, 0.7013152734552383, 0.777746064370919, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.google_robot.base_position": { "min": [ 0.0, -0.20000000298023224, 0.20000000298023224 ], "max": [ 0.0, -0.20000000298023224, 0.20000000298023224 ], "mean": [ 0.0, -0.19999994243274338, 0.19999994243274338 ], "std": [ 0.0, 1.4727974670822766e-07, 1.4727974670822766e-07 ], "count": [ 7760 ] }, "observation.xarm7.ee_error": { "min": [ -0.0038260668516159058, -0.012618601322174072, -0.0012095868587493896, -3.892369568347931e-05, -0.0048812031745910645, -0.002305924892425537, -0.0003809286281466484 ], "max": [ 4.664063453674316e-06, 5.930662155151367e-06, 0.0010508894920349121, 0.12568525969982147, 0.0017664432525634766, 0.0023607611656188965, 0.11335362493991852 ], "mean": [ -8.755906398036619e-05, -0.0003345469946455468, 3.8169213710425916e-08, 0.0025175568917849473, -0.00010731782467412694, -6.687726413556636e-05, 0.002052656463071947 ], "std": [ 0.00041896636529121747, 0.0017074699247220844, 8.760894019904646e-05, 0.014186570699132673, 0.0003937107634663769, 0.0002428513769871469, 0.012522899055361343 ], "count": [ 7760 ] }, "observation.google_robot.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "observation.kinova3.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "observation.panda.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "observation.panda.ee_pose": { "min": [ -0.3625325858592987, -0.6222609877586365, -0.05749349296092987, -0.1128876581788063, -0.6405338048934937, 0.7678136825561523, -0.12417545914649963 ], "max": [ 0.2104334533214569, -0.2686265707015991, 0.1547592729330063, 0.042506493628025055, -0.5201612114906311, 0.8505731225013733, 0.06799186021089554 ], "mean": [ -0.09751347502406696, -0.42905344310187804, 0.05019773853412882, -0.01349416348690546, -0.5901987658640773, 0.8054285949192096, -0.005920956835865413 ], "std": [ 0.1304968640025869, 0.08376386941936148, 0.04760589915376416, 0.030612199675034788, 0.02079434207770019, 0.015052652007929162, 0.03371848986605709 ], "count": [ 7760 ] }, "observation.widowX.ee_pose": { "min": [ 0.1697106510400772, -0.35861316323280334, -0.05828811228275299, -0.07556968927383423, 0.9044942855834961, -0.4054839313030243, -0.13376526534557343 ], "max": [ 0.5112447738647461, 0.21047979593276978, 0.15814192593097687, 0.2203776091337204, 0.9954347014427185, -0.09191375970840454, 0.08127962797880173 ], "mean": [ 0.330330234086237, -0.09645473258590839, 0.05084767504907261, 0.022615202456421984, 0.9809313878417015, -0.1749043600796962, -0.03466075687436987 ], "std": [ 0.08329693258565812, 0.12944842239426496, 0.047939636463584366, 0.04425495092449614, 0.014988840034672343, 0.0533069985524679, 0.021082918399599585 ], "count": [ 7760 ] }, "observation.images.image": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 0.9803921568627451 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4423381949857128 ] ], [ [ 0.45209389741533695 ] ], [ [ 0.4629461349164453 ] ] ], "std": [ [ [ 0.28458180268916416 ] ], [ [ 0.22697327477342633 ] ], [ [ 0.22788639891421397 ] ] ], "count": [ 7589 ] }, "observation.google_robot.ee_pose": { "min": [ -0.3648642897605896, -0.8191604018211365, 0.14250044524669647, -0.0357489138841629, -0.6405714154243469, 0.7677863836288452, -0.06037577614188194 ], "max": [ 0.21048447489738464, -0.4686256945133209, 0.358143150806427, 0.05886612460017204, -0.5692281723022461, 0.8201463222503662, 0.05884990468621254 ], "mean": [ -0.0977258845163718, -0.6300424462894804, 0.2515045946118297, 0.026081294834748216, -0.5951130148369013, 0.8023998504446954, 0.02335853527690711 ], "std": [ 0.13117909386650606, 0.0842122774700763, 0.048029214313227445, 0.013284290949407331, 0.016178828660126373, 0.01205689875817732, 0.01362039334835319 ], "count": [ 7760 ] }, "frame_index": { "min": [ 0 ], "max": [ 123 ], "mean": [ 38.83569587628866 ], "std": [ 26.104536853986072 ], "count": [ 7760 ] }, "observation.xarm7.ee_pose": { "min": [ -0.36485755443573, -0.6222155690193176, -0.05749041587114334, -0.07334033399820328, -0.6406151056289673, 0.7677508592605591, -0.0868000015616417 ], "max": [ 0.2104831486940384, -0.2686322331428528, 0.15814806520938873, 0.05927184224128723, -0.5668365359306335, 0.820232629776001, 0.05890817940235138 ], "mean": [ -0.0979899815271414, -0.4302466740044429, 0.051405607082595395, 0.025556421313181605, -0.5947444331937844, 0.8025920654925489, 0.023322480349482238 ], "std": [ 0.13116358597488084, 0.08472598199726633, 0.04812877612190944, 0.016442527648910854, 0.01630566340709884, 0.012072133214365672, 0.015684103668531374 ], "count": [ 7760 ] }, "observation.ur5e.base_orientation": { "min": [ 0.0 ], "max": [ 0.0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 7760 ] }, "observation.kinova3.ee_pose": { "min": [ -0.36487358808517456, -0.6300776600837708, -0.05749358981847763, -0.00426552165299654, -0.6406388878822327, 0.767727255821228, -0.0032433115411549807 ], "max": [ 0.2104836106300354, -0.2686331570148468, 0.15814755856990814, 0.05963800847530365, -0.5710157752037048, 0.8200745582580566, 0.058991286903619766 ], "mean": [ -0.09807574801439822, -0.4305869149869865, 0.05140992940636652, 0.028134693465490836, -0.5948432863142687, 0.8025251844033753, 0.025515318775043063 ], "std": [ 0.13119958697063927, 0.08531561053177707, 0.0481390125424474, 0.012582968347946515, 0.016248827017752807, 0.012089578207117995, 0.010181962187425266 ], "count": [ 7760 ] }, "observation.xarm7.joints": { "min": [ -2.2900073528289795, -1.454303503036499, -2.00520658493042, 0.36531612277030945, -2.579336166381836, -1.6929700374603271, -3.74802827835083, -0.00123199715744704 ], "max": [ 0.8019631505012512, 1.6388733386993408, 0.15739001333713531, 2.860668659210205, 0.1670878827571869, 1.6689825057983398, 0.06909079849720001, 1.3823007345199585 ], "mean": [ -0.9703357338658102, 0.20964588682196036, -0.9676635491941814, 1.287749803980294, -1.1989206101579446, 0.12688800711760817, -1.8424833296250898, 0.7808489890788326 ], "std": [ 0.7792347308238342, 0.8704121476398724, 0.5785299240477151, 0.5154350078152717, 0.9882611595006787, 1.087006784308759, 1.0836040344757445, 0.3655070293398247 ], "count": [ 7760 ] }, "observation.images.google_robot": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.46817451264831955 ] ], [ [ 0.47279748338177674 ] ], [ [ 0.4809808995845177 ] ] ], "std": [ [ [ 0.2798028218730619 ] ], [ [ 0.22384376756122176 ] ], [ [ 0.22337060888567845 ] ] ], "count": [ 7589 ] }, "observation.panda.ee_error": { "min": [ -0.004584610462188721, -0.007876694202423096, -5.698762834072113e-06, 9.230803698301315e-06, -0.09490740299224854, -0.06351965665817261, -0.05929535999894142 ], "max": [ 0.0010264664888381958, 0.0029582977294921875, 0.00480274111032486, 0.17108315229415894, 0.001774132251739502, 0.0067511796951293945, 0.16799908876419067 ], "mean": [ -0.0005640680819089877, -0.0015277748812069576, 0.0012079063568107339, 0.04156814185692749, -0.004652994115411913, -0.00290341764704708, 0.03129609499399512 ], "std": [ 0.0008742972740851517, 0.0017959240902959903, 0.0010352806488384213, 0.03799509275510578, 0.01352896222125885, 0.009425054228745181, 0.03691470829728681 ], "count": [ 7760 ] }, "observation.images.panda": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.5027305593389683 ] ], [ [ 0.5073661834055171 ] ], [ [ 0.5145462815800651 ] ] ], "std": [ [ [ 0.2823352722721959 ] ], [ [ 0.228109482189151 ] ], [ [ 0.22979498269206566 ] ] ], "count": [ 7589 ] }, "observation.widowX.base_orientation": { "min": [ 90.0 ], "max": [ 90.0 ], "mean": [ 90.0 ], "std": [ 0.0 ], "count": [ 7760 ] } }