| { |
| "new_embodiment": { |
| "statistics": { |
| "state": { |
| "end_effector_position_relative": { |
| "max": [ |
| 0.43705324458370143, |
| 0.706012167187176, |
| 0.646213099352813 |
| ], |
| "min": [ |
| -0.09696616279772341, |
| -0.7616322860963773, |
| 0.05436132796787274 |
| ], |
| "mean": [ |
| 0.20603015267093988, |
| 0.014220384843297575, |
| 0.2604373537940307 |
| ], |
| "std": [ |
| 0.1284903092993028, |
| 0.4720566847675113, |
| 0.19718323757553752 |
| ], |
| "q01": [ |
| -0.034503350749626314, |
| -0.7546979455229289, |
| 0.05661801989517107 |
| ], |
| "q99": [ |
| 0.41847876176695104, |
| 0.6766428356337131, |
| 0.6081645168943913 |
| ] |
| }, |
| "end_effector_rotation_relative": { |
| "max": [ |
| 0.9885779619216919, |
| 0.7569407224655151, |
| 0.9994974732398987, |
| 0.9999901652336121, |
| 0.6065186858177185, |
| 0.4393925964832306 |
| ], |
| "min": [ |
| -0.566469132900238, |
| -0.7275094985961914, |
| -0.17805476486682892, |
| -0.9999650120735168, |
| -0.9996269941329956, |
| -0.5314959287643433 |
| ], |
| "mean": [ |
| 0.04319709166884422, |
| 0.02683359384536743, |
| 0.8297028541564941, |
| 0.06467945128679276, |
| -0.08257200568914413, |
| -0.036586906760931015 |
| ], |
| "std": [ |
| 0.42015716433525085, |
| 0.28527262806892395, |
| 0.22605140507221222, |
| 0.872289776802063, |
| 0.44532403349876404, |
| 0.16868974268436432 |
| ], |
| "q01": [ |
| -0.4356670355796814, |
| -0.6310072255134582, |
| 0.2529286158084869, |
| -0.994257652759552, |
| -0.9981180834770202, |
| -0.4025233471393585 |
| ], |
| "q99": [ |
| 0.9623777294158936, |
| 0.6604138207435609, |
| 0.9969434356689454, |
| 0.9993602705001832, |
| 0.5087940287590028, |
| 0.3110717904567722 |
| ] |
| }, |
| "gripper_qpos": { |
| "max": [ |
| 0.01932574675248422 |
| ], |
| "min": [ |
| -0.018295429399716005 |
| ], |
| "mean": [ |
| -0.00011370025778741031 |
| ], |
| "std": [ |
| 0.005233253962022829 |
| ], |
| "q01": [ |
| -0.01753297714198864 |
| ], |
| "q99": [ |
| 0.0167837186795225 |
| ] |
| }, |
| "base_position": { |
| "max": [ |
| 5.3700050031598945, |
| -0.6188440541934274, |
| 0.7027937330908252 |
| ], |
| "min": [ |
| 1.0299822884632546, |
| -5.032551968860045, |
| 0.6998954064939146 |
| ], |
| "mean": [ |
| 2.583604274664355, |
| -1.8027354364819332, |
| 0.7003252131246801 |
| ], |
| "std": [ |
| 1.3185486330993104, |
| 1.1511084233399025, |
| 0.0005523202075831765 |
| ], |
| "q01": [ |
| 1.0299851274445795, |
| -5.0232118918670325, |
| 0.6999966389030905 |
| ], |
| "q99": [ |
| 5.369995352229393, |
| -0.6199118594186583, |
| 0.7023674721625425 |
| ] |
| }, |
| "base_rotation": { |
| "max": [ |
| 1.0, |
| 1.0, |
| 0.0, |
| 1.0, |
| 1.0, |
| 0.0 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| 0.0, |
| -1.0, |
| -1.0, |
| 0.0 |
| ], |
| "mean": [ |
| -0.06653653085231781, |
| -0.4676792621612549, |
| 0.0, |
| 0.4676792621612549, |
| -0.06653653085231781, |
| 0.0 |
| ], |
| "std": [ |
| 0.7034456729888916, |
| 0.531082034111023, |
| 0.0, |
| 0.531082034111023, |
| 0.7034456729888916, |
| 0.0 |
| ], |
| "q01": [ |
| -1.0, |
| -1.0, |
| 0.0, |
| -0.9999998211860657, |
| -1.0, |
| 0.0 |
| ], |
| "q99": [ |
| 1.0, |
| 0.9999998211860657, |
| 0.0, |
| 1.0, |
| 1.0, |
| 0.0 |
| ] |
| }, |
| "end_effector_position": { |
| "max": [ |
| 5.777278778880548, |
| -0.6021503931935053, |
| 1.3462119755585065 |
| ], |
| "min": [ |
| 0.6148699375422312, |
| -5.020164779072828, |
| 0.75467830139452 |
| ], |
| "mean": [ |
| 2.6095176647771536, |
| -1.5929231407581763, |
| 0.9607625669187047 |
| ], |
| "std": [ |
| 1.4830340920663239, |
| 1.1037073815065475, |
| 0.19688899393395906 |
| ], |
| "q01": [ |
| 0.6213298037695711, |
| -4.681522489938032, |
| 0.7576206898940057 |
| ], |
| "q99": [ |
| 5.560641950394117, |
| -0.6201974772248516, |
| 1.3081668473775985 |
| ] |
| }, |
| "end_effector_rotation": { |
| "max": [ |
| 0.9999472498893738, |
| 0.9994831085205078, |
| 0.9973825216293335, |
| 0.9999673366546631, |
| 0.9996267557144165, |
| 0.9993071556091309 |
| ], |
| "min": [ |
| -0.9999291896820068, |
| -0.9978331923484802, |
| -0.9995058178901672, |
| -0.9999898672103882, |
| -0.9981555938720703, |
| -0.995307445526123 |
| ], |
| "mean": [ |
| 0.07085639983415604, |
| 0.09361504763364792, |
| -0.03516657277941704, |
| 0.22533264756202698, |
| -0.015329577960073948, |
| 0.4202609062194824 |
| ], |
| "std": [ |
| 0.6806948781013489, |
| 0.3724175691604614, |
| 0.618819534778595, |
| 0.6514059901237488, |
| 0.3735480010509491, |
| 0.45662012696266174 |
| ], |
| "q01": [ |
| -0.997770962715149, |
| -0.5885418915748596, |
| -0.9950895118713379, |
| -0.9952612113952637, |
| -0.9927434158325196, |
| -0.9675201082229614 |
| ], |
| "q99": [ |
| 0.9881048560142517, |
| 0.9973834967613221, |
| 0.9919476985931397, |
| 0.9980754137039185, |
| 0.997493166923523, |
| 0.9963797688484192 |
| ] |
| }, |
| "joint_position": { |
| "max": [ |
| 1.4491449025787102, |
| -0.9193666591667065, |
| 2.0610833475045203, |
| -0.9201139584984509, |
| 0.822935436177769, |
| 3.6562604733184365, |
| 1.5975259222216096 |
| ], |
| "min": [ |
| -1.1759964345217913, |
| -1.7661930520253906, |
| -2.047396868667881, |
| -2.975471255489229, |
| -0.8438320330546083, |
| 0.7884402893450078, |
| -0.01271010433092899 |
| ], |
| "mean": [ |
| -0.012001768929192578, |
| -1.4685297683655842, |
| 0.08005723565623338, |
| -2.2406014830441365, |
| 0.04847054251894399, |
| 2.4845619432720385, |
| 0.7538699803967438 |
| ], |
| "std": [ |
| 0.5499137673047206, |
| 0.23979497178678738, |
| 1.5603537317518725, |
| 0.328589574955232, |
| 0.2753764824317836, |
| 0.604074459175347, |
| 0.28389461238841224 |
| ], |
| "q01": [ |
| -1.083558661656973, |
| -1.7630660157507618, |
| -2.0230261506247036, |
| -2.855514143569887, |
| -0.6854194981252201, |
| 1.3877550124662745, |
| 0.14031164793607187 |
| ], |
| "q99": [ |
| 1.1466581037425658, |
| -1.0200867922855954, |
| 2.026392734299544, |
| -1.349867462295824, |
| 0.6337352682826607, |
| 3.4221425081089647, |
| 1.45149942852933 |
| ] |
| }, |
| "joint_velocity": { |
| "max": [ |
| 1.0444211082344175, |
| 0.6809699155009227, |
| 0.7818204148086113, |
| 0.846085837085706, |
| 0.9155853720817082, |
| 1.08944805098152, |
| 0.9691676638964319 |
| ], |
| "min": [ |
| -0.8254239419067719, |
| -0.7137922112093121, |
| -0.7274023395312624, |
| -0.7009802555183202, |
| -1.1044064206922246, |
| -0.7670548701988196, |
| -0.7733025279612384 |
| ], |
| "mean": [ |
| 0.0019504056337658559, |
| -0.050001534733621775, |
| 0.008888511851857642, |
| 0.029884868155670968, |
| 0.004102917923679506, |
| 0.0793178802551183, |
| 0.0065821321112565405 |
| ], |
| "std": [ |
| 0.29132504959291494, |
| 0.19804092284760755, |
| 0.2727024934911539, |
| 0.21262633204355907, |
| 0.23792806734168576, |
| 0.3019509763599552, |
| 0.197632871056172 |
| ], |
| "q01": [ |
| -0.5657070193474149, |
| -0.5278350117156767, |
| -0.6000758380511527, |
| -0.4212952910506557, |
| -0.6730742508586722, |
| -0.4531617039039985, |
| -0.5570201289838835 |
| ], |
| "q99": [ |
| 0.5872577269505718, |
| 0.39507078577307914, |
| 0.6588611517219245, |
| 0.5951433566347304, |
| 0.6363488826321324, |
| 0.804208596171753, |
| 0.5930398032306117 |
| ] |
| }, |
| "gripper_qpos_raw": { |
| "max": [ |
| 0.04078982289341823, |
| 4.087994013712536e-05 |
| ], |
| "min": [ |
| -3.603315210113226e-05, |
| -0.041132643538446055 |
| ], |
| "mean": [ |
| 0.032063417636094944, |
| -0.03229081815166965 |
| ], |
| "std": [ |
| 0.012154504665649556, |
| 0.011835183344935586 |
| ], |
| "q01": [ |
| 0.0014951936522198126, |
| -0.04004148187972499 |
| ], |
| "q99": [ |
| 0.04004103600878609, |
| -0.0012631328558077178 |
| ] |
| }, |
| "gripper_qvel": { |
| "max": [ |
| 0.11412978890483133, |
| 0.09609808074846939 |
| ], |
| "min": [ |
| -0.19759293439273995, |
| -0.07960760748730611 |
| ], |
| "mean": [ |
| -0.0003943861425324162, |
| 0.00042174167809785635 |
| ], |
| "std": [ |
| 0.01418029513814658, |
| 0.013360091122167645 |
| ], |
| "q01": [ |
| -0.06718259660654194, |
| -0.05296641898878727 |
| ], |
| "q99": [ |
| 0.05569606843660904, |
| 0.06515437075484164 |
| ] |
| }, |
| "object_state": { |
| "max": [ |
| 5.980275904806688, |
| -0.2623631565283961, |
| 0.7864942713505889, |
| 0.3646954717081272, |
| 0.6056654803662673, |
| 0.9274921584578038, |
| 0.9994683571351533, |
| 0.773724920924161, |
| 0.8350950322900168, |
| 0.9027625469992397, |
| 0.9821990728378296, |
| 0.9938258528709412, |
| 0.8232154250144958, |
| 0.7382081151008606, |
| 6.198596102671198, |
| -0.11154635120594263, |
| 1.0335146254948908, |
| 0.16644480861469219, |
| 0.24898163811890278, |
| 0.9944935915990266, |
| 0.9999756835792857, |
| 1.4039885199565205, |
| 1.0137310316347872, |
| 1.0955967774060342, |
| 0.9574940204620361, |
| 0.9616373181343079, |
| 0.7485224008560181, |
| 0.7449761033058167, |
| 5.060001717753089, |
| 0.0, |
| 1.078583150032861, |
| 0.2522979728230251, |
| 0.4139976359701631, |
| 0.994844437958607, |
| 0.9984484405671211, |
| 0.8335099035602447, |
| 1.2739902985846818, |
| 0.9378794268200146, |
| 0.9597335457801819, |
| 0.9806171655654907, |
| 0.979282796382904, |
| 0.7650073170661926, |
| 4.845111057710145, |
| 0.0, |
| 1.007731472924526, |
| 0.13034729616882995, |
| 0.07579066964783195, |
| 0.8925431089885351, |
| 0.9987341919215447, |
| 0.9566194265447843, |
| 1.0321126449930986, |
| 0.9222433428587102, |
| 0.9451616406440735, |
| 0.9630879759788513, |
| 0.6865101456642151, |
| 0.8692299127578735 |
| ], |
| "min": [ |
| 0.25550168783311683, |
| -4.273504449640827, |
| 0.7484783084650906, |
| -0.217732539639753, |
| -0.12692996704513504, |
| -0.9109496970314465, |
| 0.3733411570002892, |
| -0.1995119706169426, |
| -0.6609908984867148, |
| 0.15097685268710848, |
| -0.7729955911636353, |
| -0.9980853796005249, |
| -0.7420083284378052, |
| 0.00010215426300419495, |
| 0.11598544514564568, |
| -4.526032752236193, |
| 0.9236837035419829, |
| -0.30358872374841755, |
| -0.18652536017812144, |
| -0.9202053897733715, |
| 0.10372959888770457, |
| -1.2374123647161772, |
| -1.645968352041972, |
| -0.04898216346273543, |
| -0.7672045826911926, |
| -0.9535017013549805, |
| -0.860795259475708, |
| 1.89217953447951e-05, |
| 0.0, |
| -4.601624348326709, |
| 0.0, |
| -0.9981463945598805, |
| -0.5305870126105904, |
| -0.8654145125036551, |
| 0.0, |
| -1.7277324641348946, |
| -0.9588790490715251, |
| -0.02176354796361757, |
| -0.8946821689605713, |
| -0.9497973918914795, |
| -0.9957687854766846, |
| 0.0, |
| 0.0, |
| -4.354705054183458, |
| 0.0, |
| -0.34576650927181374, |
| -0.07211816010916586, |
| -0.48212564515796963, |
| 0.0, |
| -0.6652494700855067, |
| -0.7437853057474446, |
| 0.0, |
| -0.8751758933067322, |
| -0.9446074366569519, |
| -0.6854181289672852, |
| 0.0 |
| ], |
| "mean": [ |
| 2.588511989079817, |
| -1.3618901634526677, |
| 0.7645254747637399, |
| 0.010152604380605383, |
| 0.03189682180139564, |
| 0.028057284593609254, |
| 0.8090735115523608, |
| 0.0862973246649416, |
| 0.0010590459908504386, |
| 0.4552061984958963, |
| 0.34056148342885295, |
| 0.09720325880166006, |
| 0.08539538293842587, |
| 0.30076083448747787, |
| 2.6058458394304225, |
| -1.3123752287966186, |
| 0.958516750630971, |
| 0.00326256330194093, |
| 0.005770237378291092, |
| 0.055560457944449214, |
| 0.8033286385951114, |
| 0.10845802907628906, |
| 0.007002377374381836, |
| 0.4843275388061198, |
| 0.35874412637184594, |
| 0.07019459709981468, |
| -0.010813623970577488, |
| 0.31097455313290545, |
| 1.8749334760164416, |
| -1.0124709435723336, |
| 0.7042565156794887, |
| -0.016586182979209788, |
| -0.007386878005261041, |
| 0.00833670734212809, |
| 0.5883000991263831, |
| 0.04775984945243082, |
| 0.015275760337392646, |
| 0.37735883002007997, |
| 0.20195925248979618, |
| 0.14966599453940055, |
| 0.08488052379605472, |
| 0.20292065674066653, |
| 0.7733351885029398, |
| -0.3606572409572883, |
| 0.2807978910156506, |
| -0.007290088239730078, |
| -0.0003408103693516823, |
| 0.04234686624989927, |
| 0.2551503336462556, |
| 0.011165344568664212, |
| -0.0036443725770207583, |
| 0.13996136010181184, |
| 0.13734660073336113, |
| -0.010187376103716535, |
| -0.008268156966145978, |
| 0.10528662337977777 |
| ], |
| "std": [ |
| 1.731672387999006, |
| 1.2098392095161952, |
| 0.008311677889728971, |
| 0.07273409649029271, |
| 0.12730353660391058, |
| 0.5347134314851344, |
| 0.18994069083292808, |
| 0.16438113612776137, |
| 0.2047622667911235, |
| 0.19746218001145027, |
| 0.4576016531250453, |
| 0.6069438573059621, |
| 0.38549194222398814, |
| 0.22457914634195247, |
| 1.820908216849407, |
| 1.2725079547806717, |
| 0.029931581337175373, |
| 0.06245259327424525, |
| 0.06890554266287079, |
| 0.5420031744125231, |
| 0.22162231989953318, |
| 0.33758030385458937, |
| 0.30473547895556974, |
| 0.17294138549484822, |
| 0.4367804725959038, |
| 0.5945674283412609, |
| 0.410566716311237, |
| 0.23811894047051188, |
| 1.923001294810198, |
| 1.297654092501365, |
| 0.4210174922825088, |
| 0.1222908120084898, |
| 0.10656326321235639, |
| 0.4596761021789468, |
| 0.39143191191462634, |
| 0.3124648107440956, |
| 0.2523613928807082, |
| 0.27118551726298523, |
| 0.41349495656686175, |
| 0.5065802578411109, |
| 0.38299258487705096, |
| 0.22687905760901445, |
| 1.5089570080475536, |
| 0.9139512636889445, |
| 0.43874108339068724, |
| 0.05644922204221741, |
| 0.014291913795628062, |
| 0.22905243048386623, |
| 0.4098880939646333, |
| 0.1773557928939538, |
| 0.15627191220546868, |
| 0.2364998476237453, |
| 0.3162291137669129, |
| 0.29038429444972946, |
| 0.18102147358578344, |
| 0.20880152530674564 |
| ], |
| "q01": [ |
| 0.2555359731233973, |
| -4.273488062846192, |
| 0.748520767953854, |
| -0.20657515323582124, |
| -0.12685066419802465, |
| -0.9109300100143747, |
| 0.3734520487867307, |
| -0.1660856647908885, |
| -0.5561456842172673, |
| 0.16588139047006023, |
| -0.5830943846702575, |
| -0.9813744616508484, |
| -0.6913996458053588, |
| 0.007324485443532467, |
| 0.11598549340832909, |
| -4.526029836471588, |
| 0.9236874553583876, |
| -0.2960436082483725, |
| -0.18652536017812135, |
| -0.9202053707881014, |
| 0.10372959895147427, |
| -1.0328150569610601, |
| -0.7683101071371056, |
| 0.11913107272669421, |
| -0.505019371509552, |
| -0.8574907279014587, |
| -0.8406871294975281, |
| 0.003454473065212369, |
| 0.0, |
| -4.601624348326709, |
| 0.0, |
| -0.7483256349806526, |
| -0.5304851943026674, |
| -0.8653498304972322, |
| 0.0, |
| -1.5161919660994716, |
| -0.6523945530588784, |
| 0.0, |
| -0.5370349264144898, |
| -0.8220332074165344, |
| -0.9813993430137634, |
| 0.0, |
| 0.0, |
| -4.354704944660127, |
| 0.0, |
| -0.34571084553120346, |
| -0.07132988285927186, |
| -0.4820663242923701, |
| 0.0, |
| -0.5289145143293045, |
| -0.3692553163860398, |
| 0.0, |
| -0.27300878167152404, |
| -0.8309516763687134, |
| -0.6583263564109803, |
| 0.0 |
| ], |
| "q99": [ |
| 5.979799792721912, |
| -0.262382088066064, |
| 0.7864941877335432, |
| 0.3509197983585829, |
| 0.6050424775497145, |
| 0.9274271969326107, |
| 0.9990161174659267, |
| 0.5010121931262633, |
| 0.6604615104766742, |
| 0.8318019733065664, |
| 0.930560290813446, |
| 0.9543800091743471, |
| 0.6920316886901856, |
| 0.6890906381607058, |
| 6.198596096444797, |
| -0.11170498520146194, |
| 1.0333546748613949, |
| 0.16472289075537286, |
| 0.24380836626554822, |
| 0.994492934325933, |
| 0.9997322319766786, |
| 1.0755981581555356, |
| 0.7608805543071745, |
| 0.9156829418022528, |
| 0.9072801113128663, |
| 0.9364831042289735, |
| 0.678966281414032, |
| 0.6959413957595826, |
| 5.059985806051343, |
| 0.0, |
| 1.0437368113214205, |
| 0.2458955133698045, |
| 0.3912790962422492, |
| 0.9948444282712088, |
| 0.9984484383809649, |
| 0.7092306109517603, |
| 0.7734056080531677, |
| 0.8650394641163257, |
| 0.9107721066474914, |
| 0.9330490732192994, |
| 0.7397158813476564, |
| 0.7348315954208376, |
| 4.845107667652982, |
| 0.0, |
| 1.0077314503501786, |
| 0.130330125727168, |
| 0.07579066964783195, |
| 0.8925431089885345, |
| 0.9987338086253061, |
| 0.635921344580328, |
| 0.6119067020636135, |
| 0.7757503205310704, |
| 0.8809234762191774, |
| 0.8393791675567629, |
| 0.6639788722991945, |
| 0.7739186143875127 |
| ] |
| } |
| }, |
| "action": { |
| "end_effector_position": { |
| "max": [ |
| 0.45271947979927063, |
| 0.7161008715629578, |
| 0.6451568007469177 |
| ], |
| "min": [ |
| -0.0957145020365715, |
| -0.7609035968780518, |
| 0.025804711505770683 |
| ], |
| "mean": [ |
| 0.20091065764427185, |
| 0.015957994386553764, |
| 0.2486896812915802 |
| ], |
| "std": [ |
| 0.13399089872837067, |
| 0.480807900428772, |
| 0.19573277235031128 |
| ], |
| "q01": [ |
| -0.04026926383376121, |
| -0.7499863719940185, |
| 0.04305603563785553 |
| ], |
| "q99": [ |
| 0.4356601572036743, |
| 0.6989241194725038, |
| 0.6071043157577515 |
| ] |
| }, |
| "end_effector_rotation": { |
| "max": [ |
| 0.7317051887512207, |
| 0.9883328676223755, |
| 0.999997079372406, |
| 0.9996489882469177, |
| 0.9999935626983643, |
| 0.4393664002418518 |
| ], |
| "min": [ |
| -0.761704683303833, |
| -0.5940344333648682, |
| -0.16592112183570862, |
| -0.6245508790016174, |
| -0.999976634979248, |
| -0.5365860462188721 |
| ], |
| "mean": [ |
| -0.02644892781972885, |
| 0.018950117751955986, |
| 0.8435676693916321, |
| 0.05514839291572571, |
| 0.06446361541748047, |
| -0.03949278965592384 |
| ], |
| "std": [ |
| 0.28683900833129883, |
| 0.40036240220069885, |
| 0.21158605813980103, |
| 0.4274965822696686, |
| 0.882790744304657, |
| 0.17078961431980133 |
| ], |
| "q01": [ |
| -0.6677525329589844, |
| -0.4374687194824219, |
| 0.2581059348583221, |
| -0.5093881845474243, |
| -0.994687294960022, |
| -0.40408878326416015 |
| ], |
| "q99": [ |
| 0.6344457244873047, |
| 0.9598882341384888, |
| 0.9971694612503053, |
| 0.9978565716743469, |
| 0.9994449663162231, |
| 0.3095978355407715 |
| ] |
| }, |
| "gripper_close": { |
| "max": [ |
| 1.0 |
| ], |
| "min": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.3213493227958679 |
| ], |
| "std": [ |
| 0.4669945538043976 |
| ], |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| }, |
| "base_motion": { |
| "max": [ |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "control_mode": { |
| "max": [ |
| 0.0 |
| ], |
| "min": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 0.0 |
| ] |
| }, |
| "end_effector_rotation_axis_angle": { |
| "max": [ |
| 2.771559476852417, |
| 2.588514566421509, |
| 2.3344340324401855 |
| ], |
| "min": [ |
| -2.746809959411621, |
| -2.5344831943511963, |
| -2.249429941177368 |
| ], |
| "mean": [ |
| 0.6085575819015503, |
| 1.1220341920852661, |
| 0.3221225142478943 |
| ], |
| "std": [ |
| 1.5797475576400757, |
| 0.9961773157119751, |
| 1.1364513635635376 |
| ], |
| "q01": [ |
| -2.503930940628052, |
| -0.7825396180152893, |
| -2.115528221130371 |
| ], |
| "q99": [ |
| 2.650359773635864, |
| 2.451940221786499, |
| 2.127909784317017 |
| ] |
| }, |
| "gripper_raw": { |
| "max": [ |
| 1.0 |
| ], |
| "min": [ |
| -1.0 |
| ], |
| "mean": [ |
| -0.35730138421058655 |
| ], |
| "std": [ |
| 0.9339891076087952 |
| ], |
| "q01": [ |
| -1.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| }, |
| "end_effector_position_delta": { |
| "max": [ |
| 0.8071428537368774, |
| 1.0, |
| -0.0 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -0.8214285969734192 |
| ], |
| "mean": [ |
| -0.10215184837579727, |
| 0.03476514667272568, |
| -0.23506291210651398 |
| ], |
| "std": [ |
| 0.45811787247657776, |
| 0.360210657119751, |
| 0.1803569495677948 |
| ], |
| "q01": [ |
| -1.0, |
| -0.8928571343421936, |
| -0.6642857193946838 |
| ], |
| "q99": [ |
| 0.5785714387893677, |
| 0.8428571224212646, |
| 0.0 |
| ] |
| }, |
| "end_effector_rotation_delta": { |
| "max": [ |
| 1.0, |
| 0.3673763573169708, |
| 0.1140369400382042, |
| 0.3340419828891754, |
| 1.0, |
| 0.29793885350227356 |
| ], |
| "min": [ |
| 0.9100680351257324, |
| -0.3183648884296417, |
| -0.36548662185668945, |
| -0.3811664879322052, |
| 0.9151288270950317, |
| -0.2954089641571045 |
| ], |
| "mean": [ |
| 0.9906212091445923, |
| 0.0023527995217591524, |
| -0.05182702839374542, |
| -0.0025930877309292555, |
| 0.9897923469543457, |
| 0.0023171899374574423 |
| ], |
| "std": [ |
| 0.016231929883360863, |
| 0.10377035290002823, |
| 0.07042196393013, |
| 0.11391893774271011, |
| 0.018347488716244698, |
| 0.08368298411369324 |
| ], |
| "q01": [ |
| 0.9350298881530762, |
| -0.2560485577583313, |
| -0.2564009881019592, |
| -0.31978660821914673, |
| 0.9289336061477661, |
| -0.23012178719043733 |
| ], |
| "q99": [ |
| 1.0, |
| 0.2961578500270844, |
| 0.006073361840099677, |
| 0.27703975558280947, |
| 1.0, |
| 0.24382685661315923 |
| ] |
| }, |
| "end_effector_rotation_delta_axis_angle": { |
| "max": [ |
| 0.3085714280605316, |
| 0.11428571492433548, |
| 0.334285706281662 |
| ], |
| "min": [ |
| -0.3285714387893677, |
| -0.36571428179740906, |
| -0.38285714387893677 |
| ], |
| "mean": [ |
| -0.0019861541222780943, |
| -0.04813353344798088, |
| -0.0025738331023603678 |
| ], |
| "std": [ |
| 0.09133574366569519, |
| 0.06591548770666122, |
| 0.11075232923030853 |
| ], |
| "q01": [ |
| -0.26388571262359617, |
| -0.24571429193019867, |
| -0.3171428442001343 |
| ], |
| "q99": [ |
| 0.2514285743236542, |
| 0.006742856986822361, |
| 0.27142858505249023 |
| ] |
| }, |
| "raw_actions": { |
| "max": [ |
| 0.8071428537368774, |
| 1.0, |
| -0.0, |
| 0.3085714280605316, |
| 0.11428571492433548, |
| 0.334285706281662, |
| 1.0, |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -0.8214285969734192, |
| -0.3285714387893677, |
| -0.36571428179740906, |
| -0.38285714387893677, |
| -1.0, |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "mean": [ |
| -0.10215184837579727, |
| 0.03476514667272568, |
| -0.23506291210651398, |
| -0.0019861541222780943, |
| -0.04813353344798088, |
| -0.0025738331023603678, |
| -0.35730138421058655, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "std": [ |
| 0.45811787247657776, |
| 0.360210657119751, |
| 0.1803569495677948, |
| 0.09133574366569519, |
| 0.06591548770666122, |
| 0.11075232923030853, |
| 0.9339865446090698, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| -1.0, |
| -0.8928571343421936, |
| -0.6642857193946838, |
| -0.26388571262359617, |
| -0.24571429193019867, |
| -0.3171428442001343, |
| -1.0, |
| 0.0, |
| -0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "q99": [ |
| 0.5785714387893677, |
| 0.8428571224212646, |
| 0.0, |
| 0.2514285743236542, |
| 0.006742856986822361, |
| 0.27142858505249023, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ] |
| } |
| } |
| }, |
| "modalities": { |
| "video": { |
| "left_view": { |
| "resolution": [ |
| 128, |
| 128 |
| ], |
| "channels": 3, |
| "fps": 12.0 |
| }, |
| "right_view": { |
| "resolution": [ |
| 128, |
| 128 |
| ], |
| "channels": 3, |
| "fps": 12.0 |
| }, |
| "wrist_view": { |
| "resolution": [ |
| 128, |
| 128 |
| ], |
| "channels": 3, |
| "fps": 12.0 |
| } |
| }, |
| "state": { |
| "end_effector_position_relative": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation_relative": { |
| "absolute": true, |
| "rotation_type": "rotation_6d", |
| "shape": [ |
| 6 |
| ], |
| "continuous": true |
| }, |
| "gripper_qpos": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 1 |
| ], |
| "continuous": true |
| }, |
| "base_position": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "base_rotation": { |
| "absolute": true, |
| "rotation_type": "rotation_6d", |
| "shape": [ |
| 6 |
| ], |
| "continuous": true |
| }, |
| "end_effector_position": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation": { |
| "absolute": true, |
| "rotation_type": "rotation_6d", |
| "shape": [ |
| 6 |
| ], |
| "continuous": true |
| }, |
| "joint_position": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 7 |
| ], |
| "continuous": true |
| }, |
| "joint_velocity": { |
| "absolute": false, |
| "rotation_type": null, |
| "shape": [ |
| 7 |
| ], |
| "continuous": true |
| }, |
| "gripper_qpos_raw": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 2 |
| ], |
| "continuous": true |
| }, |
| "gripper_qvel": { |
| "absolute": false, |
| "rotation_type": null, |
| "shape": [ |
| 2 |
| ], |
| "continuous": true |
| }, |
| "object_state": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 56 |
| ], |
| "continuous": true |
| } |
| }, |
| "action": { |
| "end_effector_position": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation": { |
| "absolute": true, |
| "rotation_type": "rotation_6d", |
| "shape": [ |
| 6 |
| ], |
| "continuous": true |
| }, |
| "gripper_close": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 1 |
| ], |
| "continuous": true |
| }, |
| "base_motion": { |
| "absolute": false, |
| "rotation_type": null, |
| "shape": [ |
| 4 |
| ], |
| "continuous": true |
| }, |
| "control_mode": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 1 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation_axis_angle": { |
| "absolute": true, |
| "rotation_type": "axis_angle", |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "gripper_raw": { |
| "absolute": true, |
| "rotation_type": null, |
| "shape": [ |
| 1 |
| ], |
| "continuous": true |
| }, |
| "end_effector_position_delta": { |
| "absolute": false, |
| "rotation_type": null, |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation_delta": { |
| "absolute": false, |
| "rotation_type": "rotation_6d", |
| "shape": [ |
| 6 |
| ], |
| "continuous": true |
| }, |
| "end_effector_rotation_delta_axis_angle": { |
| "absolute": false, |
| "rotation_type": "axis_angle", |
| "shape": [ |
| 3 |
| ], |
| "continuous": true |
| }, |
| "raw_actions": { |
| "absolute": false, |
| "rotation_type": null, |
| "shape": [ |
| 12 |
| ], |
| "continuous": true |
| } |
| } |
| }, |
| "embodiment_tag": "new_embodiment" |
| } |
| } |
