Add files using upload-large-folder tool

README.md

@@ -0,0 +1,138 @@
+---
+pretty_name: "nyu_franka_play_dataset_train_augmented"
+license: "cc-by-4.0"
+tags: [robotics, lerobot, oxe-auge, dataset]
+task_categories: [robotics]
+
+oxe_aug:
+  codebase_version: "v3.0"
+  robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
+  fps: 3
+  total_episodes: 365
+  total_frames: 34448
+  total_videos: null
+
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path:
+          - "data/chunk-*/file-*.parquet"
+---
+# nyu_franka_play_dataset_train_augmented
+
+## Overview
+
+- **Codebase version**: `v3.0`
+- **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
+- **FPS**: 3
+- **Episodes**: 365
+- **Frames**: 34,448
+- **Splits**:
+  - `train`: `0:365`
+
+## Data Layout
+
+```text
+data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
+video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
+```
+
+## Features
+
+| Feature | dtype | shape | description |
+|---|---:|---:|---|
+| `observation.images.google_robot` | `video` | `128×128×3` | Augmented image for google_robot robot |
+| `observation.images.image` | `video` | `128×128×3` | Source robot's image from original dataset |
+| `observation.images.jaco` | `video` | `128×128×3` | Augmented image for jaco robot |
+| `observation.images.kinova3` | `video` | `128×128×3` | Augmented image for kinova3 robot |
+| `observation.images.kuka_iiwa` | `video` | `128×128×3` | Augmented image for kuka_iiwa robot |
+| `observation.images.sawyer` | `video` | `128×128×3` | Augmented image for sawyer robot |
+| `observation.images.ur5e` | `video` | `128×128×3` | Augmented image for ur5e robot |
+| `observation.images.widowX` | `video` | `128×128×3` | Augmented image for widowX robot |
+| `observation.images.xarm7` | `video` | `128×128×3` | Augmented image for xarm7 robot |
+| `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
+| `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
+| `index` | `int64` | `1` | Global frame index across the whole dataset. |
+| `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
+| `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
+| `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
+| `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
+| `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
+| `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
+| `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
+| `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
+| `observation.joints` | `float32` | `8` | Joint angle of source robot |
+| `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
+| `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
+| `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
+| `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
+| `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
+| `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
+| `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
+| `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
+| `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
+| `observation.state` | `float32` | `13` | Copy of the state field in source robot's RLDS dataset |
+| `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
+| `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
+| `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
+| `observation.widowX.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.widowX.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.widowX.ee_error` | `float32` | `7` | The eef difference between the augmented widowX robot and the original robot |
+| `observation.widowX.ee_pose` | `float32` | `7` | The eef position of widowX robot |
+| `observation.widowX.joints` | `float32` | `7` | The joint position of widowX robot |
+| `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
+| `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
+| `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
+| `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
+| `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
+| `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
+| `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
+
+## Website
+
+- Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
+- Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
+
+## Paper
+
+- Not available.
+
+## Citation Policy
+
+If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
+
+## Upstream Dataset Citation (original dataset)
+
+```bibtex
+@article{cui2022play,
+    title   = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
+    author  = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
+    journal = {arXiv preprint arXiv:2210.10047},
+    year    = {2022}
+}
+```
+
+## OXE-AugE Dataset Citation (ours)
+
+```bibtex
+@misc{
+  ji2025oxeaug,
+  title  = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
+  author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
+  year   = {2025},
+  note   = {Manuscript}
+}
+```

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480717b9bc0c723e8c9708ede6556bb2eeb340a74933e1d61dcb985c9be775e2
+size 35974931

meta/episodes/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f12d071a7b9f1d317e4a7cc05f0895d1ce39cd83ffbc641c749f5cc1439410
+size 2691920

meta/info.json

@@ -0,0 +1,528 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "mixed",
+    "total_episodes": 365,
+    "total_frames": 34448,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 3,
+    "splits": {
+        "train": "0:365"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.widowX.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.widowX.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.widowX.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.widowX.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.widowX.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.widowX": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.sawyer.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.sawyer.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.sawyer.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.sawyer.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.sawyer.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.sawyer": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.ur5e.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.ur5e.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.ur5e.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.ur5e.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.ur5e.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.ur5e": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.google_robot.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.google_robot.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.google_robot.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.google_robot.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.google_robot.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.google_robot": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.jaco.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.jaco.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.jaco.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.jaco.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.jaco.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.jaco": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.kinova3.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.kinova3.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.kinova3.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.kinova3.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.kinova3.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.kinova3": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.kuka_iiwa.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.kuka_iiwa.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.kuka_iiwa.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.kuka_iiwa.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.kuka_iiwa.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.kuka_iiwa": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.xarm7.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.xarm7.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.xarm7.base_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "fps": 3
+        },
+        "observation.xarm7.base_orientation": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.xarm7.ee_error": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "observation.images.xarm7": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.image": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "natural_language_instruction": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "fps": 3
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "fps": 3
+        },
+        "observation.joints": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "fps": 3
+        },
+        "observation.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "fps": 3
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 3
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 3
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 3
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 3
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 3
+        }
+    },
+    "data_files_size_in_mb": 500,
+    "video_files_size_in_mb": 500
+}

meta/stats.json

@@ -0,0 +1,2235 @@
+{
+    "observation.google_robot.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kinova3.joints": {
+        "min": [
+            -4.8675031661987305,
+            -2.240000009536743,
+            -4.813467025756836,
+            -2.4441258907318115,
+            -6.375802040100098,
+            -2.0899999141693115,
+            -4.9796600341796875,
+            0.0
+        ],
+        "max": [
+            5.880651950836182,
+            2.240000009536743,
+            6.176043510437012,
+            2.569999933242798,
+            2.6296751499176025,
+            2.0899999141693115,
+            3.491302013397217,
+            1.0
+        ],
+        "mean": [
+            -0.6865193117144995,
+            0.3698214602069611,
+            -0.39131780661504684,
+            1.3712990663183704,
+            -0.05373069794157099,
+            1.3742749806282588,
+            -0.035092374245681096,
+            0.2769101256789286
+        ],
+        "std": [
+            1.1759155380974682,
+            0.8029722952036928,
+            1.1546127008338745,
+            0.6750049974143718,
+            2.184315658016146,
+            1.02185503870762,
+            1.2683801462846698,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.widowX": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4588218305379593
+                ]
+            ],
+            [
+                [
+                    0.44365393045135265
+                ]
+            ],
+            [
+                [
+                    0.42701267112843017
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.1791573142249206
+                ]
+            ],
+            [
+                [
+                    0.17129655664032495
+                ]
+            ],
+            [
+                [
+                    0.17308960928429998
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.xarm7.ee_pose": {
+        "min": [
+            -0.23512136936187744,
+            -0.34974730014801025,
+            -0.18409880995750427,
+            -0.08198793232440948,
+            -0.20520368218421936,
+            -0.022223712876439095,
+            -0.35422876477241516
+        ],
+        "max": [
+            0.7546414136886597,
+            0.7500823140144348,
+            0.885432243347168,
+            0.9822455644607544,
+            0.9523785710334778,
+            0.9879439473152161,
+            0.6164898872375488
+        ],
+        "mean": [
+            0.2731843500362845,
+            0.3400016798055271,
+            0.4491211224811933,
+            0.5581278189540054,
+            0.3481867741258089,
+            0.6122889736502034,
+            0.14710014830782517
+        ],
+        "std": [
+            0.15655585882025547,
+            0.16259400940310365,
+            0.17311137561549292,
+            0.22467272267043684,
+            0.2465630382115558,
+            0.17217860784452607,
+            0.17264535435808948
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.widowX.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.google_robot.ee_error": {
+        "min": [
+            -0.08416640758514404,
+            -0.028352171182632446,
+            -0.02219235897064209,
+            -0.3545757234096527,
+            -0.5177507996559143,
+            -0.4740562438964844,
+            -0.8792335987091064
+        ],
+        "max": [
+            0.0149955153465271,
+            0.05340537428855896,
+            0.031951963901519775,
+            1.2153342962265015,
+            1.0011985301971436,
+            0.8582407236099243,
+            0.5970842838287354
+        ],
+        "mean": [
+            -0.0015845925356938165,
+            0.0004898011218915123,
+            -2.5095792043913948e-05,
+            0.01344483267448923,
+            0.008962221396993741,
+            -0.019431317646106824,
+            -0.006686075092174073
+        ],
+        "std": [
+            0.0041057231082142044,
+            0.0025917292178106333,
+            0.0018778704949346475,
+            0.06809700400843348,
+            0.04605078653158126,
+            0.05185532789398197,
+            0.0447790902107923
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.xarm7.joints": {
+        "min": [
+            -2.7177445888519287,
+            -2.059000015258789,
+            -2.7591335773468018,
+            -0.1919800043106079,
+            -3.221320390701294,
+            -1.6929700374603271,
+            -2.781460762023926,
+            0.0
+        ],
+        "max": [
+            2.99151873588562,
+            1.8087655305862427,
+            2.8553130626678467,
+            3.927000045776367,
+            3.406485080718994,
+            3.141590118408203,
+            4.374354839324951,
+            1.0
+        ],
+        "mean": [
+            -0.415890853670841,
+            -1.1287327897834432,
+            0.8969071378435678,
+            1.3204767869684206,
+            0.3568829923681201,
+            0.8367636829255174,
+            1.486579764260252,
+            0.2769101256789286
+        ],
+        "std": [
+            0.8189096136065848,
+            0.8227726369710575,
+            0.5672326066295565,
+            0.5448003573137034,
+            0.7190986990075976,
+            0.9457443625505694,
+            0.8802364497201136,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.jaco": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4504145405892856
+                ]
+            ],
+            [
+                [
+                    0.43569511823485263
+                ]
+            ],
+            [
+                [
+                    0.4194540273409718
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.1877844072575721
+                ]
+            ],
+            [
+                [
+                    0.17967156263638984
+                ]
+            ],
+            [
+                [
+                    0.18045712861709548
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.kuka_iiwa.ee_pose": {
+        "min": [
+            -0.21952657401561737,
+            -0.37246888875961304,
+            -0.12402626127004623,
+            -0.08193225413560867,
+            -0.22251403331756592,
+            -0.022296810522675514,
+            -0.3542037606239319
+        ],
+        "max": [
+            0.905776858329773,
+            0.8273227214813232,
+            1.1501115560531616,
+            0.9822497963905334,
+            0.9524072408676147,
+            0.987987220287323,
+            0.6166056990623474
+        ],
+        "mean": [
+            0.41759652807474607,
+            0.386920601398063,
+            0.44806138614871305,
+            0.5597952214531217,
+            0.34794358925832697,
+            0.611769582861684,
+            0.14581910602162423
+        ],
+        "std": [
+            0.15072281359001713,
+            0.13638186030207816,
+            0.18874359436214042,
+            0.22317358034750065,
+            0.24683571164263055,
+            0.17181052444800046,
+            0.17258666310640622
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            364
+        ],
+        "mean": [
+            185.51979795634
+        ],
+        "std": [
+            104.13711759988428
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.state": {
+        "min": [
+            -2.1353442668914795,
+            -1.6306616067886353,
+            -0.0167933851480484,
+            -2.8458828926086426,
+            -2.5256054401397705,
+            0.5101203322410583,
+            -2.1178665161132812,
+            -0.029897235333919525,
+            0.003107964526861906,
+            0.1199457123875618,
+            -3.14158296585083,
+            -1.0961432456970215,
+            -0.41072607040405273
+        ],
+        "max": [
+            0.873094916343689,
+            1.244848370552063,
+            2.6604084968566895,
+            -0.46481436491012573,
+            1.409853458404541,
+            3.5058159828186035,
+            2.2937142848968506,
+            0.5901635885238647,
+            0.781833291053772,
+            0.8468776941299438,
+            3.1414129734039307,
+            1.3738117218017578,
+            2.342769145965576
+        ],
+        "mean": [
+            -0.7658327769979495,
+            -0.9727658471712779,
+            1.4862335192440168,
+            -2.0913683268922014,
+            -0.43020860308663283,
+            2.444602918736308,
+            -0.04338759403850769,
+            0.307839924877936,
+            0.41388741127032347,
+            0.4693415539284681,
+            1.7822832007236222,
+            0.043696969415206455,
+            1.3043090102781445
+        ],
+        "std": [
+            0.4467109568607907,
+            0.5938714625647056,
+            0.45791793579323137,
+            0.40090862683214,
+            0.6102782300891464,
+            0.5892742610061117,
+            0.758987432447986,
+            0.11790771106144082,
+            0.11098332775977596,
+            0.16474323379213057,
+            0.671067143891209,
+            0.5176724353430858,
+            0.3856575515177698
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.widowX.base_position": {
+        "min": [
+            -0.625,
+            -0.75,
+            -0.75
+        ],
+        "max": [
+            0.0625,
+            0.03125,
+            0.25
+        ],
+        "mean": [
+            -0.21219301555968417,
+            -0.28859621748722714,
+            -0.1919818458255922
+        ],
+        "std": [
+            0.1664834327065255,
+            0.17220570042664465,
+            0.20384044793302933
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            9.2
+        ],
+        "mean": [
+            1.836668795479176
+        ],
+        "std": [
+            1.3650381470104163
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.google_robot.ee_pose": {
+        "min": [
+            0.18359655141830444,
+            -0.25949132442474365,
+            0.11588530987501144,
+            -0.5797610282897949,
+            -0.5491036772727966,
+            -0.2776709198951721,
+            -0.6197359561920166
+        ],
+        "max": [
+            0.8225265145301819,
+            0.6273298263549805,
+            1.0854346752166748,
+            0.9822653532028198,
+            0.9455974102020264,
+            0.9982832670211792,
+            0.6940528750419617
+        ],
+        "mean": [
+            0.5821488179851287,
+            0.2004782803533474,
+            0.642143054361357,
+            0.5445215558119315,
+            0.3398771608915375,
+            0.6314001935285452,
+            0.15297486971840818
+        ],
+        "std": [
+            0.10765785501025069,
+            0.12481168908993402,
+            0.17808532826862716,
+            0.21127244228518824,
+            0.2526197622773923,
+            0.16707136282730423,
+            0.171891405064279
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            34447
+        ],
+        "mean": [
+            17223.5
+        ],
+        "std": [
+            9944.281032332101
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.ur5e.joints": {
+        "min": [
+            -4.876623153686523,
+            -2.7188308238983154,
+            -2.323864221572876,
+            -6.28318977355957,
+            -5.892244815826416,
+            -6.28318977355957,
+            0.0
+        ],
+        "max": [
+            0.5329962968826294,
+            0.9868754744529724,
+            3.12961745262146,
+            6.28318977355957,
+            -0.4363580048084259,
+            6.28318977355957,
+            1.0
+        ],
+        "mean": [
+            -2.192716588190494,
+            -1.2565296024992054,
+            1.4362001017282582,
+            -0.9633330092122755,
+            -3.0594890956968914,
+            -0.0960481534308375,
+            0.2769101256789286
+        ],
+        "std": [
+            0.45971780919611716,
+            0.34960573019179025,
+            0.5752412242306029,
+            2.2258774758148587,
+            0.8104843229647688,
+            2.2459173578971487,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.image": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4964593578568385
+                ]
+            ],
+            [
+                [
+                    0.48511595086505344
+                ]
+            ],
+            [
+                [
+                    0.46909540840887115
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18734008280373277
+                ]
+            ],
+            [
+                [
+                    0.18164349001269667
+                ]
+            ],
+            [
+                [
+                    0.18769798574627258
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.images.ur5e": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4526091995721223
+                ]
+            ],
+            [
+                [
+                    0.4391586830156468
+                ]
+            ],
+            [
+                [
+                    0.42398889726026817
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18526197170184516
+                ]
+            ],
+            [
+                [
+                    0.17751802049807536
+                ]
+            ],
+            [
+                [
+                    0.17892672915902083
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.kuka_iiwa.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.ur5e.ee_error": {
+        "min": [
+            -0.006526648998260498,
+            -0.010965459048748016,
+            -0.005420058965682983,
+            -0.31376978754997253,
+            -0.11090290546417236,
+            -0.27214518189430237,
+            -0.3465315103530884
+        ],
+        "max": [
+            0.020095407962799072,
+            0.02050107717514038,
+            0.030892670154571533,
+            0.17244184017181396,
+            0.14808088541030884,
+            0.1837795376777649,
+            0.23741041123867035
+        ],
+        "mean": [
+            0.00021092982050625598,
+            0.0001983896218610465,
+            0.00025941038870692034,
+            -0.001252434684678473,
+            0.0009620416172839391,
+            -0.00016026855110217884,
+            -0.002487321410597387
+        ],
+        "std": [
+            0.0014504129870919445,
+            0.001464007044007985,
+            0.001803697753845433,
+            0.014590356588497309,
+            0.008932333247581406,
+            0.011794489277593145,
+            0.025129845142596204
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.xarm7": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4985740257282647
+                ]
+            ],
+            [
+                [
+                    0.48487297800998136
+                ]
+            ],
+            [
+                [
+                    0.4689905815283528
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.20358899599507863
+                ]
+            ],
+            [
+                [
+                    0.19914552715628478
+                ]
+            ],
+            [
+                [
+                    0.2038180240554659
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.widowX.joints": {
+        "min": [
+            -3.141580104827881,
+            -1.8849600553512573,
+            -2.146749973297119,
+            -3.141580104827881,
+            -1.7453299760818481,
+            -3.141580104827881,
+            0.0
+        ],
+        "max": [
+            3.141580104827881,
+            1.9896800518035889,
+            1.6057000160217285,
+            3.141580104827881,
+            2.146749973297119,
+            3.141580104827881,
+            1.0
+        ],
+        "mean": [
+            0.44221924978603716,
+            0.04409371441719333,
+            -0.2566403792485915,
+            0.3062883369838571,
+            0.1672488683941733,
+            0.5177228564113275,
+            0.2769101256789286
+        ],
+        "std": [
+            1.2012006333256358,
+            0.9614012756637997,
+            0.831891590507421,
+            1.5217441898243116,
+            1.4617636574567707,
+            1.2875626624928358,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.jaco.ee_pose": {
+        "min": [
+            -0.17674106359481812,
+            -0.6021899580955505,
+            -0.32017087936401367,
+            -0.08136199414730072,
+            -0.20535127818584442,
+            -0.016248168423771858,
+            -0.3729759156703949
+        ],
+        "max": [
+            0.8840613961219788,
+            0.7500849366188049,
+            0.8854246735572815,
+            0.9123176336288452,
+            0.9522607326507568,
+            0.9880192875862122,
+            0.6163291931152344
+        ],
+        "mean": [
+            0.3483674012984703,
+            0.3087446489762801,
+            0.3659479289854839,
+            0.5585806271194532,
+            0.34727410331790853,
+            0.6132402628810736,
+            0.1491526332118344
+        ],
+        "std": [
+            0.13796341165514314,
+            0.20282980583000731,
+            0.20102577558537474,
+            0.2229577196156814,
+            0.24623167579599886,
+            0.1712014047135482,
+            0.17154635941641075
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.joints": {
+        "min": [
+            -2.1353442668914795,
+            -1.6306616067886353,
+            -0.0167933851480484,
+            -2.8458828926086426,
+            -2.5256054401397705,
+            0.5101203322410583,
+            -2.1178665161132812,
+            0.0
+        ],
+        "max": [
+            0.873094916343689,
+            1.244848370552063,
+            2.6604084968566895,
+            -0.46481436491012573,
+            1.409853458404541,
+            3.5058159828186035,
+            2.2937142848968506,
+            1.0
+        ],
+        "mean": [
+            -0.7658327769979495,
+            -0.9727658471712779,
+            1.4862335192440168,
+            -2.0913683268922014,
+            -0.43020860308663283,
+            2.444602918736308,
+            -0.04338759403850769,
+            0.2769101256789286
+        ],
+        "std": [
+            0.4467109568607907,
+            0.5938714625647056,
+            0.45791793579323137,
+            0.40090862683214,
+            0.6102782300891464,
+            0.5892742610061117,
+            0.758987432447986,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kuka_iiwa.ee_error": {
+        "min": [
+            -0.11799967288970947,
+            -0.16820645332336426,
+            -0.0930887758731842,
+            -0.4928330183029175,
+            -0.08279651403427124,
+            -0.18893077969551086,
+            -0.2744615077972412
+        ],
+        "max": [
+            0.007930219173431396,
+            0.021094679832458496,
+            0.006773367524147034,
+            0.1864183247089386,
+            0.48118215799331665,
+            0.2921837568283081,
+            0.2115580290555954
+        ],
+        "mean": [
+            -0.0002065115813790143,
+            -0.00020734008538021194,
+            -0.00012014966943341257,
+            -0.0018288339770430324,
+            0.0008957919950971999,
+            0.00019928339360590215,
+            0.00046968986218644043
+        ],
+        "std": [
+            0.0030576102202658465,
+            0.003559666407563867,
+            0.00251594882330887,
+            0.022940374557907758,
+            0.016632000101243386,
+            0.012595562038001036,
+            0.013559847659598596
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.jaco.ee_error": {
+        "min": [
+            -0.060715124011039734,
+            -0.0384705513715744,
+            -0.032187581062316895,
+            -0.3793177902698517,
+            -0.12655141949653625,
+            -0.284473180770874,
+            -0.3847312033176422
+        ],
+        "max": [
+            0.012921452522277832,
+            0.029671477153897285,
+            0.015540599822998047,
+            0.13045763969421387,
+            0.5356410145759583,
+            0.12855058908462524,
+            0.12917402386665344
+        ],
+        "mean": [
+            -0.0001555695156253806,
+            -5.430364434502628e-06,
+            6.111121271457545e-05,
+            -0.0006142327102333658,
+            0.001565278120744123,
+            -0.001271396821657746,
+            -0.0028638351190344957
+        ],
+        "std": [
+            0.0020067849589436963,
+            0.0011265911040377124,
+            0.0012136528656024807,
+            0.01689574001932604,
+            0.0167916366722122,
+            0.01205300487529879,
+            0.019894671076179746
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kuka_iiwa.joints": {
+        "min": [
+            -2.8795182704925537,
+            -2.094399929046631,
+            -2.967060089111328,
+            -2.094399929046631,
+            -2.6308746337890625,
+            -2.094399929046631,
+            -2.8900320529937744,
+            0.0
+        ],
+        "max": [
+            2.967060089111328,
+            2.094399929046631,
+            2.967060089111328,
+            1.7029764652252197,
+            2.967060089111328,
+            2.094399929046631,
+            3.0543301105499268,
+            1.0
+        ],
+        "mean": [
+            0.7888729861367066,
+            0.6176669928651135,
+            0.3349032125246277,
+            -1.5359772637000249,
+            -0.7718052265824317,
+            0.7938348439983207,
+            0.31127704824337465,
+            0.2769101256789286
+        ],
+        "std": [
+            0.7071093258848781,
+            0.6181057816875494,
+            0.7425392712483089,
+            0.45931855148916095,
+            1.308430503911473,
+            1.2383545075784264,
+            1.2872212405998347,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.jaco.joints": {
+        "min": [
+            -4.5276055335998535,
+            0.8726649880409241,
+            0.8914759159088135,
+            -5.870473861694336,
+            -5.370113372802734,
+            -8.012208938598633,
+            0.0
+        ],
+        "max": [
+            3.74960994720459,
+            5.410520076751709,
+            5.9515700340271,
+            7.257654666900635,
+            5.064492702484131,
+            5.050386905670166,
+            1.0
+        ],
+        "mean": [
+            -1.0125320072829138,
+            2.489533638876646,
+            4.7153660892208284,
+            -1.8733566834115936,
+            1.5081094150383656,
+            -0.8282436792983151,
+            0.2769101256789286
+        ],
+        "std": [
+            0.9049823131220447,
+            0.6481080128052652,
+            0.6921983233034613,
+            1.631307742852219,
+            1.390979811744071,
+            1.3162099077502156,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.sawyer.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.sawyer.ee_error": {
+        "min": [
+            -0.00624731183052063,
+            -0.001978754997253418,
+            -0.00907355546951294,
+            -0.1590733826160431,
+            -0.019835449755191803,
+            -0.047815024852752686,
+            -0.23418816924095154
+        ],
+        "max": [
+            0.0036807656288146973,
+            0.009404867887496948,
+            0.002775728702545166,
+            0.07926610112190247,
+            0.03490650653839111,
+            0.0056310296058654785,
+            0.028146661818027496
+        ],
+        "mean": [
+            -3.7564187525828065e-06,
+            6.719314701755264e-06,
+            -2.6192837512041292e-05,
+            -0.00018629750457340948,
+            5.092246734577237e-05,
+            -0.00012473957197149782,
+            -8.921893724037447e-05
+        ],
+        "std": [
+            0.00016039968351670497,
+            0.00014119876089887222,
+            0.0003266948743387454,
+            0.003934764576525933,
+            0.0006741882716084153,
+            0.0009360301148548511,
+            0.004840557354697652
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kinova3.base_position": {
+        "min": [
+            -0.375,
+            -0.30000001192092896,
+            -0.30000001192092896
+        ],
+        "max": [
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -0.05699455420128894,
+            -0.0388498206368115,
+            -0.01151299186801833
+        ],
+        "std": [
+            0.11771088265909173,
+            0.0989063682942305,
+            0.057050176434507945
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.sawyer.ee_pose": {
+        "min": [
+            -0.02283713035285473,
+            -0.0594465471804142,
+            0.11111507564783096,
+            -0.07407402992248535,
+            -0.2052566260099411,
+            -0.02220800146460533,
+            -0.35426807403564453
+        ],
+        "max": [
+            0.9013204574584961,
+            0.8273324966430664,
+            0.8854321241378784,
+            0.9822577238082886,
+            0.9523767232894897,
+            0.988000214099884,
+            0.6166468858718872
+        ],
+        "mean": [
+            0.3870676266971614,
+            0.39604671156276977,
+            0.4511390426739033,
+            0.5581526862625231,
+            0.34878846088325266,
+            0.6120936070641099,
+            0.1463780145683834
+        ],
+        "std": [
+            0.10994393319011943,
+            0.12135820554586986,
+            0.17032192396024337,
+            0.22412817371959068,
+            0.246909083121802,
+            0.17262065758007686,
+            0.17242870338705202
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kuka_iiwa.base_position": {
+        "min": [
+            -0.30000001192092896,
+            -0.6000000238418579,
+            -0.30000001192092896
+        ],
+        "max": [
+            0.30000001192092896,
+            0.0,
+            0.30000001192092896
+        ],
+        "mean": [
+            0.031911112189888124,
+            -0.00934015208387231,
+            -0.004006031697336541
+        ],
+        "std": [
+            0.12473087100924753,
+            0.05901622637496338,
+            0.07827969316403774
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.ee_pose": {
+        "min": [
+            0.05404702574014664,
+            -0.05943670496344566,
+            0.1158912256360054,
+            -0.2052021026611328,
+            -0.02232961356639862,
+            -0.3542822003364563,
+            -0.08196058869361877
+        ],
+        "max": [
+            0.6225220561027527,
+            0.8273245096206665,
+            0.8854317665100098,
+            0.9524034857749939,
+            0.9879907369613647,
+            0.6167188286781311,
+            0.9822614192962646
+        ],
+        "mean": [
+            0.38547886852728686,
+            0.3960534303760112,
+            0.4519472674791529,
+            0.3488393867585944,
+            0.6119688662358193,
+            0.14628879563990468,
+            0.5579663846417707
+        ],
+        "std": [
+            0.1067829358397043,
+            0.12135088650046581,
+            0.1702880186886457,
+            0.24693069941639562,
+            0.172632162516574,
+            0.172663598909301,
+            0.2246974309313538
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kinova3.ee_pose": {
+        "min": [
+            -0.21156354248523712,
+            -0.3497416079044342,
+            -0.14567533135414124,
+            -0.0742529034614563,
+            -0.20509196817874908,
+            -0.02219988964498043,
+            -0.35408106446266174
+        ],
+        "max": [
+            0.6225224733352661,
+            0.7678554654121399,
+            0.8854277729988098,
+            0.9822571873664856,
+            0.9516797065734863,
+            0.9879695773124695,
+            0.6166094541549683
+        ],
+        "mean": [
+            0.32843991667406414,
+            0.35708683709984584,
+            0.44025590899259825,
+            0.5581803019917702,
+            0.348385956968744,
+            0.6125427033696834,
+            0.14841944427551512
+        ],
+        "std": [
+            0.14098820497140244,
+            0.15327495884436518,
+            0.17884463552115623,
+            0.22454377995630936,
+            0.2459676231013222,
+            0.17191084937484014,
+            0.1713235083596825
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.kinova3": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4877851623757937
+                ]
+            ],
+            [
+                [
+                    0.47391925502044757
+                ]
+            ],
+            [
+                [
+                    0.4583024496372355
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18606731324696518
+                ]
+            ],
+            [
+                [
+                    0.18040573428742973
+                ]
+            ],
+            [
+                [
+                    0.18446897739716517
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kinova3.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.google_robot.base_position": {
+        "min": [
+            0.10000000149011612,
+            -0.20000000298023224,
+            0.0
+        ],
+        "max": [
+            0.20000000298023224,
+            -0.10000000149011612,
+            0.20000000298023224
+        ],
+        "mean": [
+            0.19508543253313496,
+            -0.19508543253313496,
+            0.1901707769485335
+        ],
+        "std": [
+            0.021617402737769912,
+            0.021617402737769912,
+            0.04323480036680809
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.xarm7.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            276
+        ],
+        "mean": [
+            55.100063864375294
+        ],
+        "std": [
+            40.95114441031249
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.widowX.ee_error": {
+        "min": [
+            -0.06424431502819061,
+            -0.05036306381225586,
+            -0.06237758696079254,
+            -0.3701220154762268,
+            -0.18850526213645935,
+            -0.373140811920166,
+            -0.6377203464508057
+        ],
+        "max": [
+            0.03693723678588867,
+            0.06188619136810303,
+            0.07980185747146606,
+            0.388271689414978,
+            0.5369285345077515,
+            0.3181236684322357,
+            0.49049481749534607
+        ],
+        "mean": [
+            -0.0007747524302254014,
+            0.0006352823144913376,
+            0.0019112911262810961,
+            -0.007767600316188729,
+            0.010374100651805274,
+            0.0016104952911602437,
+            -0.0055275720807548764
+        ],
+        "std": [
+            0.004197305901074802,
+            0.0051253212249899385,
+            0.00950209970697284,
+            0.05271821096464334,
+            0.04283856998192891,
+            0.045176638726178914,
+            0.055119321425926675
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.kuka_iiwa": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4861619849027375
+                ]
+            ],
+            [
+                [
+                    0.46761920373511234
+                ]
+            ],
+            [
+                [
+                    0.4460100330300817
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.18770936290509246
+                ]
+            ],
+            [
+                [
+                    0.17870804647137728
+                ]
+            ],
+            [
+                [
+                    0.18756440960149753
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.ur5e.base_position": {
+        "min": [
+            -0.6000000238418579,
+            -0.30000001192092896,
+            -0.30000001192092896
+        ],
+        "max": [
+            0.30000001192092896,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -0.032893023968843374,
+            -0.016172187015261973,
+            -0.019194131647009546
+        ],
+        "std": [
+            0.11889748643670711,
+            0.06775036606951704,
+            0.0734153934013498
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.sawyer.joints": {
+        "min": [
+            -2.5701539516448975,
+            -3.809499979019165,
+            -2.7904484272003174,
+            -0.5339615941047668,
+            -2.5693135261535645,
+            -2.518899917602539,
+            -1.5737673044204712,
+            0.0
+        ],
+        "max": [
+            3.050299882888794,
+            0.8533288240432739,
+            3.04259991645813,
+            2.8268420696258545,
+            2.976099967956543,
+            2.3141446113586426,
+            4.426614761352539,
+            1.0
+        ],
+        "mean": [
+            0.8603008603733387,
+            -1.3450550502994523,
+            -0.20144377290985774,
+            1.8201565994559694,
+            0.4614447791442315,
+            0.07109161793003783,
+            1.3886226823630725,
+            0.2769101256789286
+        ],
+        "std": [
+            0.8521899704710775,
+            0.9098959452110621,
+            0.8203252904130055,
+            0.40309885436043125,
+            1.3037665552478166,
+            1.1613031052471667,
+            1.1462076570594473,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.ur5e.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.images.google_robot": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.49296734688152083
+                ]
+            ],
+            [
+                [
+                    0.4779087942641173
+                ]
+            ],
+            [
+                [
+                    0.4609577622658358
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.191663299837093
+                ]
+            ],
+            [
+                [
+                    0.18666666827069953
+                ]
+            ],
+            [
+                [
+                    0.1904251923625194
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.images.sawyer": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4323208562545085
+                ]
+            ],
+            [
+                [
+                    0.3967798243437904
+                ]
+            ],
+            [
+                [
+                    0.3835890948189352
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.1927849112339244
+                ]
+            ],
+            [
+                [
+                    0.20385724885541465
+                ]
+            ],
+            [
+                [
+                    0.20077774386586458
+                ]
+            ]
+        ],
+        "count": [
+            29583
+        ]
+    },
+    "observation.google_robot.joints": {
+        "min": [
+            -3.3242013454437256,
+            -2.2225728034973145,
+            -2.130000114440918,
+            -2.049999952316284,
+            -2.9200000762939453,
+            -1.7899999618530273,
+            -3.5090532302856445,
+            0.0
+        ],
+        "max": [
+            1.350000023841858,
+            3.180000066757202,
+            3.7100000381469727,
+            2.8587141036987305,
+            2.9200000762939453,
+            1.7899999618530273,
+            1.350000023841858,
+            1.0
+        ],
+        "mean": [
+            0.6575406929824105,
+            0.9216427569834194,
+            1.0971043087508316,
+            1.671292306179647,
+            0.9568031895860313,
+            -1.4943682164061058,
+            -0.31076999997739696,
+            0.2769101256789286
+        ],
+        "std": [
+            0.6303067704021411,
+            0.7369186144300973,
+            1.0166383623268545,
+            0.6369398598547946,
+            1.2511396430700579,
+            0.7360390490562984,
+            0.9527289833097967,
+            0.447471684223866
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.widowX.ee_pose": {
+        "min": [
+            -0.4195648729801178,
+            -0.6313945651054382,
+            -0.38622474670410156,
+            -0.12648172676563263,
+            -0.27848830819129944,
+            -0.08901761472225189,
+            -0.44324159622192383
+        ],
+        "max": [
+            0.6127804517745972,
+            0.6411738395690918,
+            0.7594714164733887,
+            0.9822401404380798,
+            0.9523653388023376,
+            0.98801189661026,
+            0.6840059757232666
+        ],
+        "mean": [
+            0.17406061278664153,
+            0.10682192897810291,
+            0.2580541262994592,
+            0.5657339928965,
+            0.33846528354956074,
+            0.6103583759400272,
+            0.1518163656954221
+        ],
+        "std": [
+            0.1722875542713055,
+            0.21536408787572195,
+            0.2262309270045853,
+            0.22192684110618283,
+            0.24466553241757946,
+            0.175896444936451,
+            0.17247738405559743
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.xarm7.ee_error": {
+        "min": [
+            -0.005261451005935669,
+            -0.004294566810131073,
+            -0.0031546056270599365,
+            -0.05572313070297241,
+            -0.03941744565963745,
+            -0.0560847669839859,
+            -0.12179356068372726
+        ],
+        "max": [
+            0.00962972640991211,
+            0.009066611528396606,
+            0.00873565673828125,
+            0.041674889624118805,
+            0.0779828429222107,
+            0.03762179613113403,
+            0.03201963007450104
+        ],
+        "mean": [
+            6.013539906185908e-05,
+            0.00012397278776936374,
+            8.288365189996622e-05,
+            -0.00016143127012513078,
+            0.0006526007569593221,
+            -0.00032010580204953865,
+            -0.0008113552593295446
+        ],
+        "std": [
+            0.0005315309695285653,
+            0.0007767647119232688,
+            0.0006099978138182533,
+            0.0023693397073953444,
+            0.004770968806154067,
+            0.002659470889684688,
+            0.006182431545825067
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.ur5e.ee_pose": {
+        "min": [
+            -0.3695603311061859,
+            -0.23630811274051666,
+            -0.14567701518535614,
+            -0.08189738541841507,
+            -0.20503801107406616,
+            -0.022259032353758812,
+            -0.3542903661727905
+        ],
+        "max": [
+            0.9005585312843323,
+            0.7691692113876343,
+            0.8854175209999084,
+            0.9822721481323242,
+            0.9524005651473999,
+            0.9879809021949768,
+            0.6166296005249023
+        ],
+        "mean": [
+            0.35237488734917183,
+            0.379682832923309,
+            0.4324937152259098,
+            0.5592188249968072,
+            0.3478773397454517,
+            0.6121291318675611,
+            0.1487761128124172
+        ],
+        "std": [
+            0.15276573207295224,
+            0.13768915629183476,
+            0.18478135048353211,
+            0.22294693589769204,
+            0.2463142460087209,
+            0.1717454591518637,
+            0.17189155048339433
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.xarm7.base_position": {
+        "min": [
+            -0.30000001192092896,
+            -0.30000001192092896,
+            -0.30000001192092896
+        ],
+        "max": [
+            0.30000001192092896,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -0.11223427675789005,
+            -0.05592772057535161,
+            -0.0027432611209538943
+        ],
+        "std": [
+            0.1466206588811801,
+            0.11583551363000018,
+            0.028556113664129416
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.sawyer.base_position": {
+        "min": [
+            -0.30000001192092896,
+            0.0,
+            -0.01875000074505806
+        ],
+        "max": [
+            0.30000001192092896,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.001584995149548697,
+            0.0,
+            -0.0008344091972465079
+        ],
+        "std": [
+            0.030541911933839247,
+            0.0,
+            0.003866383553132929
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.jaco.base_position": {
+        "min": [
+            -0.30000001192092896,
+            -0.6000000238418579,
+            -0.6000000238418579
+        ],
+        "max": [
+            0.30000001192092896,
+            0.26249998807907104,
+            0.15000000596046448
+        ],
+        "mean": [
+            -0.037267008795469125,
+            -0.08731413512636466,
+            -0.08593814241792012
+        ],
+        "std": [
+            0.10206164165071499,
+            0.14787641623124284,
+            0.13983364738866338
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.kinova3.ee_error": {
+        "min": [
+            -0.006611935794353485,
+            -0.007838211953639984,
+            -0.008138373494148254,
+            -0.1285192370414734,
+            -0.10106059908866882,
+            -0.07775098085403442,
+            -0.14780642092227936
+        ],
+        "max": [
+            0.008262395858764648,
+            0.00846254825592041,
+            0.00918683409690857,
+            0.09864675998687744,
+            0.09263104200363159,
+            0.07798111438751221,
+            0.09884526580572128
+        ],
+        "mean": [
+            4.435285530157779e-05,
+            0.00011672911555811919,
+            0.00017834176145981834,
+            -0.00021391875660238817,
+            0.00045342627166683583,
+            -0.0005738412135433425,
+            -0.00213064965403045
+        ],
+        "std": [
+            0.0005891474009102262,
+            0.0008838197381610801,
+            0.0010219867793097503,
+            0.006034835693438316,
+            0.007034437076835775,
+            0.005086866167119494,
+            0.014224535706543131
+        ],
+        "count": [
+            34448
+        ]
+    },
+    "observation.jaco.base_orientation": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            34448
+        ]
+    }
+}

meta/tasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b815835a639da834fea6e859f5b1c31bf8af50ccd63170956724af585c15198
+size 2151

videos/observation.images.google_robot/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dd3f612c6792466aba3df502db06bb707895db868e17c2ea5d486688825fb43
+size 58052721

videos/observation.images.image/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11a4244a75c30ae0d1c35a3fd7355f3e5563b808c3535182b2355b677466d8c9
+size 64038016

videos/observation.images.jaco/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7037fca640da1e47fa6183e92c34b08787bdd012f033fe894c658a23959668d9
+size 53236162

videos/observation.images.kinova3/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28ccef0405f7abacfb018a59c8f168554cf04160a1f01e2edd19ef8f8e56d78
+size 58098268

videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f02192e24628ad45f2842e2a2e3e0e536a7d2d9919ac858cba11e2c77b6b0e8
+size 60333288

videos/observation.images.sawyer/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509a624c290abc088dc1b39def1ad898f7539ba8a62f017fb5a85d3285887306
+size 53490515

videos/observation.images.ur5e/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5477ef342ba1921732dfd00d6ae78316aa465de75a5817b6aca95f5ec09f8ce5
+size 58643896

videos/observation.images.widowX/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cecc58cf769b14e2571b9976cd9443fc4a8ee1f27903b90b2f843b0f808da928
+size 53952251

videos/observation.images.xarm7/chunk-000/file-000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6ab4920490f183dcfe042d2c51d3b3fa582b65870973f1db97c047035e8b2f
+size 57191355