Upload checkpoint-750
Browse files- config.json +64 -0
- experiment_cfg/metadata.json +1419 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action_dim": 32,
|
| 3 |
+
"action_head_cfg": {
|
| 4 |
+
"action_dim": 32,
|
| 5 |
+
"action_horizon": 16,
|
| 6 |
+
"add_pos_embed": true,
|
| 7 |
+
"backbone_embedding_dim": 2048,
|
| 8 |
+
"diffusion_model_cfg": {
|
| 9 |
+
"attention_head_dim": 48,
|
| 10 |
+
"cross_attention_dim": 2048,
|
| 11 |
+
"dropout": 0.2,
|
| 12 |
+
"final_dropout": true,
|
| 13 |
+
"interleave_self_attention": true,
|
| 14 |
+
"norm_type": "ada_norm",
|
| 15 |
+
"num_attention_heads": 32,
|
| 16 |
+
"num_layers": 16,
|
| 17 |
+
"output_dim": 1024,
|
| 18 |
+
"positional_embeddings": null
|
| 19 |
+
},
|
| 20 |
+
"hidden_size": 1024,
|
| 21 |
+
"input_embedding_dim": 1536,
|
| 22 |
+
"max_action_dim": 32,
|
| 23 |
+
"max_state_dim": 64,
|
| 24 |
+
"model_dtype": "float32",
|
| 25 |
+
"noise_beta_alpha": 1.5,
|
| 26 |
+
"noise_beta_beta": 1.0,
|
| 27 |
+
"noise_s": 0.999,
|
| 28 |
+
"num_inference_timesteps": 4,
|
| 29 |
+
"num_target_vision_tokens": 32,
|
| 30 |
+
"num_timestep_buckets": 1000,
|
| 31 |
+
"tune_diffusion_model": true,
|
| 32 |
+
"tune_projector": true,
|
| 33 |
+
"use_vlln": true,
|
| 34 |
+
"vl_self_attention_cfg": {
|
| 35 |
+
"attention_head_dim": 64,
|
| 36 |
+
"dropout": 0.2,
|
| 37 |
+
"final_dropout": true,
|
| 38 |
+
"num_attention_heads": 32,
|
| 39 |
+
"num_layers": 4,
|
| 40 |
+
"positional_embeddings": null
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"action_horizon": 16,
|
| 44 |
+
"architectures": [
|
| 45 |
+
"GR00T_N1_5"
|
| 46 |
+
],
|
| 47 |
+
"attn_implementation": null,
|
| 48 |
+
"backbone_cfg": {
|
| 49 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
| 50 |
+
"load_bf16": false,
|
| 51 |
+
"project_to_dim": null,
|
| 52 |
+
"reproject_vision": false,
|
| 53 |
+
"select_layer": 12,
|
| 54 |
+
"tune_llm": false,
|
| 55 |
+
"tune_visual": true,
|
| 56 |
+
"use_flash_attention": true
|
| 57 |
+
},
|
| 58 |
+
"compute_dtype": "bfloat16",
|
| 59 |
+
"hidden_size": 2048,
|
| 60 |
+
"model_dtype": "float32",
|
| 61 |
+
"model_type": "gr00t_n1_5",
|
| 62 |
+
"torch_dtype": "bfloat16",
|
| 63 |
+
"transformers_version": "4.51.3"
|
| 64 |
+
}
|
experiment_cfg/metadata.json
ADDED
|
@@ -0,0 +1,1419 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"new_embodiment": {
|
| 3 |
+
"statistics": {
|
| 4 |
+
"state": {
|
| 5 |
+
"end_effector_position_relative": {
|
| 6 |
+
"max": [
|
| 7 |
+
0.4181619100609728,
|
| 8 |
+
0.0308545362411623,
|
| 9 |
+
0.8752546450560161
|
| 10 |
+
],
|
| 11 |
+
"min": [
|
| 12 |
+
-0.043650974118084385,
|
| 13 |
+
-0.32974839528784505,
|
| 14 |
+
0.5820385698295865
|
| 15 |
+
],
|
| 16 |
+
"mean": [
|
| 17 |
+
0.19549351715974225,
|
| 18 |
+
-0.16510732171974554,
|
| 19 |
+
0.7748735208340017
|
| 20 |
+
],
|
| 21 |
+
"std": [
|
| 22 |
+
0.10211621799135089,
|
| 23 |
+
0.09908158156573514,
|
| 24 |
+
0.07028948555677758
|
| 25 |
+
],
|
| 26 |
+
"q01": [
|
| 27 |
+
-0.014228080128689256,
|
| 28 |
+
-0.28358435981453534,
|
| 29 |
+
0.5926698200952727
|
| 30 |
+
],
|
| 31 |
+
"q99": [
|
| 32 |
+
0.414096506052477,
|
| 33 |
+
0.021101291764264736,
|
| 34 |
+
0.8569628300837064
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
"end_effector_rotation_relative": {
|
| 38 |
+
"max": [
|
| 39 |
+
0.9689008593559265,
|
| 40 |
+
0.5466217994689941,
|
| 41 |
+
0.9999983906745911,
|
| 42 |
+
0.9999834895133972,
|
| 43 |
+
0.7833200693130493,
|
| 44 |
+
0.4886855185031891
|
| 45 |
+
],
|
| 46 |
+
"min": [
|
| 47 |
+
-0.4953543245792389,
|
| 48 |
+
-0.5180434584617615,
|
| 49 |
+
0.24320945143699646,
|
| 50 |
+
-0.19838300347328186,
|
| 51 |
+
-0.9988648891448975,
|
| 52 |
+
-0.49379634857177734
|
| 53 |
+
],
|
| 54 |
+
"mean": [
|
| 55 |
+
0.18976996839046478,
|
| 56 |
+
-0.013411656022071838,
|
| 57 |
+
0.8490729928016663,
|
| 58 |
+
0.6587359309196472,
|
| 59 |
+
-0.46085840463638306,
|
| 60 |
+
0.04568857327103615
|
| 61 |
+
],
|
| 62 |
+
"std": [
|
| 63 |
+
0.39946448802948,
|
| 64 |
+
0.17894211411476135,
|
| 65 |
+
0.22648169100284576,
|
| 66 |
+
0.36174166202545166,
|
| 67 |
+
0.45372167229652405,
|
| 68 |
+
0.12193708121776581
|
| 69 |
+
],
|
| 70 |
+
"q01": [
|
| 71 |
+
-0.3544185429811478,
|
| 72 |
+
-0.4504800873994827,
|
| 73 |
+
0.26553714632987974,
|
| 74 |
+
0.04521940886974335,
|
| 75 |
+
-0.9980285716056824,
|
| 76 |
+
-0.2892948114871979
|
| 77 |
+
],
|
| 78 |
+
"q99": [
|
| 79 |
+
0.9618603789806366,
|
| 80 |
+
0.4354257798194884,
|
| 81 |
+
0.9995543873310089,
|
| 82 |
+
0.9994305968284607,
|
| 83 |
+
0.49924212753772707,
|
| 84 |
+
0.34700575232505787
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"gripper_qpos": {
|
| 88 |
+
"max": [
|
| 89 |
+
0.0008953420885029349
|
| 90 |
+
],
|
| 91 |
+
"min": [
|
| 92 |
+
-0.020573671963880935
|
| 93 |
+
],
|
| 94 |
+
"mean": [
|
| 95 |
+
-0.0009071546146754186
|
| 96 |
+
],
|
| 97 |
+
"std": [
|
| 98 |
+
0.0022832031370229916
|
| 99 |
+
],
|
| 100 |
+
"q01": [
|
| 101 |
+
-0.013158236360731978
|
| 102 |
+
],
|
| 103 |
+
"q99": [
|
| 104 |
+
5.286543971560085e-05
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"base_position": {
|
| 108 |
+
"max": [
|
| 109 |
+
4.9999956008718485,
|
| 110 |
+
-0.8599956047106627,
|
| 111 |
+
0.7000432568910264
|
| 112 |
+
],
|
| 113 |
+
"min": [
|
| 114 |
+
0.8499236880878013,
|
| 115 |
+
-4.100056359951939,
|
| 116 |
+
0.6998859080014052
|
| 117 |
+
],
|
| 118 |
+
"mean": [
|
| 119 |
+
2.3202984329769167,
|
| 120 |
+
-2.2553101449485102,
|
| 121 |
+
0.7000011620388691
|
| 122 |
+
],
|
| 123 |
+
"std": [
|
| 124 |
+
1.5492805895021928,
|
| 125 |
+
0.9834126569996677,
|
| 126 |
+
1.248803220582768e-05
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
0.8499730767858734,
|
| 130 |
+
-4.100003857933474,
|
| 131 |
+
0.6999488671813756
|
| 132 |
+
],
|
| 133 |
+
"q99": [
|
| 134 |
+
4.999993903989089,
|
| 135 |
+
-0.8599977170887793,
|
| 136 |
+
0.7000238960844105
|
| 137 |
+
]
|
| 138 |
+
},
|
| 139 |
+
"base_rotation": {
|
| 140 |
+
"max": [
|
| 141 |
+
1.0,
|
| 142 |
+
1.0,
|
| 143 |
+
0.0,
|
| 144 |
+
1.0,
|
| 145 |
+
1.0,
|
| 146 |
+
0.0
|
| 147 |
+
],
|
| 148 |
+
"min": [
|
| 149 |
+
-1.0,
|
| 150 |
+
-1.0,
|
| 151 |
+
0.0,
|
| 152 |
+
-1.0,
|
| 153 |
+
-1.0,
|
| 154 |
+
0.0
|
| 155 |
+
],
|
| 156 |
+
"mean": [
|
| 157 |
+
0.06608930230140686,
|
| 158 |
+
-0.1621783971786499,
|
| 159 |
+
0.0,
|
| 160 |
+
0.1621783971786499,
|
| 161 |
+
0.06608930230140686,
|
| 162 |
+
0.0
|
| 163 |
+
],
|
| 164 |
+
"std": [
|
| 165 |
+
0.8746252059936523,
|
| 166 |
+
0.4520563781261444,
|
| 167 |
+
0.0,
|
| 168 |
+
0.4520563781261444,
|
| 169 |
+
0.8746252059936523,
|
| 170 |
+
0.0
|
| 171 |
+
],
|
| 172 |
+
"q01": [
|
| 173 |
+
-1.0,
|
| 174 |
+
-1.0,
|
| 175 |
+
0.0,
|
| 176 |
+
-1.0,
|
| 177 |
+
-1.0,
|
| 178 |
+
0.0
|
| 179 |
+
],
|
| 180 |
+
"q99": [
|
| 181 |
+
1.0,
|
| 182 |
+
1.0,
|
| 183 |
+
0.0,
|
| 184 |
+
1.0,
|
| 185 |
+
1.0,
|
| 186 |
+
-0.0
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"end_effector_position": {
|
| 190 |
+
"max": [
|
| 191 |
+
5.300032590220477,
|
| 192 |
+
-0.44270592816077475,
|
| 193 |
+
1.575263025693424
|
| 194 |
+
],
|
| 195 |
+
"min": [
|
| 196 |
+
0.44197564082231355,
|
| 197 |
+
-4.1308532926716355,
|
| 198 |
+
1.2820361498901423
|
| 199 |
+
],
|
| 200 |
+
"mean": [
|
| 201 |
+
2.3636602894759458,
|
| 202 |
+
-2.233265158726466,
|
| 203 |
+
1.474874682872874
|
| 204 |
+
],
|
| 205 |
+
"std": [
|
| 206 |
+
1.6833952893980746,
|
| 207 |
+
1.0330057114479625,
|
| 208 |
+
0.0702879201993236
|
| 209 |
+
],
|
| 210 |
+
"q01": [
|
| 211 |
+
0.45860480930338465,
|
| 212 |
+
-4.106956605268531,
|
| 213 |
+
1.2926696667136706
|
| 214 |
+
],
|
| 215 |
+
"q99": [
|
| 216 |
+
5.286845700255552,
|
| 217 |
+
-0.462869718272668,
|
| 218 |
+
1.5569398755675619
|
| 219 |
+
]
|
| 220 |
+
},
|
| 221 |
+
"end_effector_rotation": {
|
| 222 |
+
"max": [
|
| 223 |
+
0.9877333641052246,
|
| 224 |
+
0.9982763528823853,
|
| 225 |
+
0.999998152256012,
|
| 226 |
+
0.9999834895133972,
|
| 227 |
+
0.9980407357215881,
|
| 228 |
+
0.9999663829803467
|
| 229 |
+
],
|
| 230 |
+
"min": [
|
| 231 |
+
-0.9999273419380188,
|
| 232 |
+
-0.9978914856910706,
|
| 233 |
+
-0.999984860420227,
|
| 234 |
+
-0.9999240040779114,
|
| 235 |
+
-0.9988647699356079,
|
| 236 |
+
-0.9996803998947144
|
| 237 |
+
],
|
| 238 |
+
"mean": [
|
| 239 |
+
-0.09454414248466492,
|
| 240 |
+
0.08071496337652206,
|
| 241 |
+
0.05775091052055359,
|
| 242 |
+
0.08651120215654373,
|
| 243 |
+
-0.0321514792740345,
|
| 244 |
+
0.14155499637126923
|
| 245 |
+
],
|
| 246 |
+
"std": [
|
| 247 |
+
0.5170160531997681,
|
| 248 |
+
0.3393744230270386,
|
| 249 |
+
0.7737748026847839,
|
| 250 |
+
0.690394401550293,
|
| 251 |
+
0.5724771618843079,
|
| 252 |
+
0.40874090790748596
|
| 253 |
+
],
|
| 254 |
+
"q01": [
|
| 255 |
+
-0.990128208398819,
|
| 256 |
+
-0.7933373177051544,
|
| 257 |
+
-0.998014475107193,
|
| 258 |
+
-0.9978462123870849,
|
| 259 |
+
-0.9979254221916198,
|
| 260 |
+
-0.9668035960197449
|
| 261 |
+
],
|
| 262 |
+
"q99": [
|
| 263 |
+
0.9645920050144196,
|
| 264 |
+
0.9975146329402924,
|
| 265 |
+
0.9989914882183075,
|
| 266 |
+
0.9994049966335297,
|
| 267 |
+
0.9973492598533631,
|
| 268 |
+
0.9987982869148254
|
| 269 |
+
]
|
| 270 |
+
},
|
| 271 |
+
"joint_position": {
|
| 272 |
+
"max": [
|
| 273 |
+
0.9720172427944607,
|
| 274 |
+
-0.43578247839774137,
|
| 275 |
+
0.0653378391474494,
|
| 276 |
+
-1.8255634580605906,
|
| 277 |
+
0.6059110785495901,
|
| 278 |
+
3.7514592474981425,
|
| 279 |
+
0.7388787003937193
|
| 280 |
+
],
|
| 281 |
+
"min": [
|
| 282 |
+
-0.115669421843946,
|
| 283 |
+
-1.7650239207849476,
|
| 284 |
+
-0.9103602785717804,
|
| 285 |
+
-2.76777159631357,
|
| 286 |
+
-0.8498008114800084,
|
| 287 |
+
1.3843337849803117,
|
| 288 |
+
-2.2832742428010837
|
| 289 |
+
],
|
| 290 |
+
"mean": [
|
| 291 |
+
0.15452219014119004,
|
| 292 |
+
-1.3044343889132761,
|
| 293 |
+
-0.3766358710749179,
|
| 294 |
+
-2.2446133165123325,
|
| 295 |
+
0.009320271340670738,
|
| 296 |
+
2.3270719071666615,
|
| 297 |
+
-0.5262045065259806
|
| 298 |
+
],
|
| 299 |
+
"std": [
|
| 300 |
+
0.1999304311565361,
|
| 301 |
+
0.23158935092919514,
|
| 302 |
+
0.2334189426378394,
|
| 303 |
+
0.14087850161632315,
|
| 304 |
+
0.19719004746661076,
|
| 305 |
+
0.577790546551505,
|
| 306 |
+
0.8195415194568316
|
| 307 |
+
],
|
| 308 |
+
"q01": [
|
| 309 |
+
-0.044343663184077314,
|
| 310 |
+
-1.757437493481021,
|
| 311 |
+
-0.8422864751854968,
|
| 312 |
+
-2.5806745169659484,
|
| 313 |
+
-0.559525398787613,
|
| 314 |
+
1.4214818028064369,
|
| 315 |
+
-1.9738577550945735
|
| 316 |
+
],
|
| 317 |
+
"q99": [
|
| 318 |
+
0.8240125670415227,
|
| 319 |
+
-0.8008670727410195,
|
| 320 |
+
0.028815236927997284,
|
| 321 |
+
-1.931809833728785,
|
| 322 |
+
0.5356956414396122,
|
| 323 |
+
3.348061870042647,
|
| 324 |
+
0.717554394743196
|
| 325 |
+
]
|
| 326 |
+
},
|
| 327 |
+
"joint_velocity": {
|
| 328 |
+
"max": [
|
| 329 |
+
0.4484456295105399,
|
| 330 |
+
0.5409197935050618,
|
| 331 |
+
0.6582552124714973,
|
| 332 |
+
0.8031451743319653,
|
| 333 |
+
0.5882339008367159,
|
| 334 |
+
0.7955301464958715,
|
| 335 |
+
2.3622291754364806
|
| 336 |
+
],
|
| 337 |
+
"min": [
|
| 338 |
+
-0.9335028904662748,
|
| 339 |
+
-0.7593810219234775,
|
| 340 |
+
-0.3824142091183109,
|
| 341 |
+
-0.5389461923271797,
|
| 342 |
+
-1.0080363231403466,
|
| 343 |
+
-1.5904333350295878,
|
| 344 |
+
-1.0825424922659563
|
| 345 |
+
],
|
| 346 |
+
"mean": [
|
| 347 |
+
0.005891905998671241,
|
| 348 |
+
-0.032166077246442375,
|
| 349 |
+
-0.03296307930972533,
|
| 350 |
+
0.004737451638840554,
|
| 351 |
+
-0.013431140259285526,
|
| 352 |
+
0.060948021680494686,
|
| 353 |
+
-0.11461401824899232
|
| 354 |
+
],
|
| 355 |
+
"std": [
|
| 356 |
+
0.1491223865660471,
|
| 357 |
+
0.16717334009845594,
|
| 358 |
+
0.11365251947260833,
|
| 359 |
+
0.12683454843836203,
|
| 360 |
+
0.15373520890543765,
|
| 361 |
+
0.29264435296092234,
|
| 362 |
+
0.3577362698068471
|
| 363 |
+
],
|
| 364 |
+
"q01": [
|
| 365 |
+
-0.5686735819668916,
|
| 366 |
+
-0.4949664059338452,
|
| 367 |
+
-0.24645012722446605,
|
| 368 |
+
-0.33138680863690106,
|
| 369 |
+
-0.5434454413482969,
|
| 370 |
+
-1.0404101843868387,
|
| 371 |
+
-0.842379799067586
|
| 372 |
+
],
|
| 373 |
+
"q99": [
|
| 374 |
+
0.2889700542943816,
|
| 375 |
+
0.25654001812153665,
|
| 376 |
+
0.36942547542137977,
|
| 377 |
+
0.3294175198290093,
|
| 378 |
+
0.3700078838699142,
|
| 379 |
+
0.5642196945214634,
|
| 380 |
+
1.066047883126651
|
| 381 |
+
]
|
| 382 |
+
},
|
| 383 |
+
"gripper_qpos_raw": {
|
| 384 |
+
"max": [
|
| 385 |
+
0.039429657247979165,
|
| 386 |
+
0.00039637215613537463
|
| 387 |
+
],
|
| 388 |
+
"min": [
|
| 389 |
+
-0.0012700733628542246,
|
| 390 |
+
-0.041110893109759156
|
| 391 |
+
],
|
| 392 |
+
"mean": [
|
| 393 |
+
0.0018515069464284648,
|
| 394 |
+
-0.0036658161757792927
|
| 395 |
+
],
|
| 396 |
+
"std": [
|
| 397 |
+
0.006774284529058116,
|
| 398 |
+
0.007740254885910702
|
| 399 |
+
],
|
| 400 |
+
"q01": [
|
| 401 |
+
-0.00010674583582726148,
|
| 402 |
+
-0.038516239621173794
|
| 403 |
+
],
|
| 404 |
+
"q99": [
|
| 405 |
+
0.03803832974816365,
|
| 406 |
+
-0.00048071635910659907
|
| 407 |
+
]
|
| 408 |
+
},
|
| 409 |
+
"gripper_qvel": {
|
| 410 |
+
"max": [
|
| 411 |
+
0.06859443169737384,
|
| 412 |
+
0.18057272619827655
|
| 413 |
+
],
|
| 414 |
+
"min": [
|
| 415 |
+
-0.06875043811534665,
|
| 416 |
+
-0.14290079251975732
|
| 417 |
+
],
|
| 418 |
+
"mean": [
|
| 419 |
+
-0.001516957946822031,
|
| 420 |
+
0.0013972184407116653
|
| 421 |
+
],
|
| 422 |
+
"std": [
|
| 423 |
+
0.012518286869209944,
|
| 424 |
+
0.02083960320855695
|
| 425 |
+
],
|
| 426 |
+
"q01": [
|
| 427 |
+
-0.06587091617749209,
|
| 428 |
+
-0.05990473119790972
|
| 429 |
+
],
|
| 430 |
+
"q99": [
|
| 431 |
+
0.040162216925987475,
|
| 432 |
+
0.06851761578505854
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
"object_state": {
|
| 436 |
+
"max": [
|
| 437 |
+
5.59352648597991,
|
| 438 |
+
-0.1587695177179644,
|
| 439 |
+
1.5886793816796396,
|
| 440 |
+
0.44360829555009124,
|
| 441 |
+
0.12513914134021675,
|
| 442 |
+
0.9652815140522155,
|
| 443 |
+
0.9983815152261414,
|
| 444 |
+
0.5289577509815331,
|
| 445 |
+
0.209925017112373,
|
| 446 |
+
0.6398369710140912,
|
| 447 |
+
0.9269306063652039,
|
| 448 |
+
0.9233285188674927,
|
| 449 |
+
0.864370584487915,
|
| 450 |
+
0.6429691314697266,
|
| 451 |
+
5.566804487133329,
|
| 452 |
+
0.0,
|
| 453 |
+
1.5069654344565306,
|
| 454 |
+
0.5011069973268045,
|
| 455 |
+
0.5005491500462916,
|
| 456 |
+
0.40541911814447557,
|
| 457 |
+
0.9998554743619742,
|
| 458 |
+
0.48205404049687495,
|
| 459 |
+
0.22235884381037874,
|
| 460 |
+
0.6064379543570979,
|
| 461 |
+
0.9972768425941467,
|
| 462 |
+
0.9872007369995117,
|
| 463 |
+
0.8506573438644409,
|
| 464 |
+
0.7933899760246277,
|
| 465 |
+
0.0,
|
| 466 |
+
0.0,
|
| 467 |
+
0.0,
|
| 468 |
+
0.0,
|
| 469 |
+
0.0,
|
| 470 |
+
0.0,
|
| 471 |
+
0.0,
|
| 472 |
+
0.0,
|
| 473 |
+
0.0,
|
| 474 |
+
0.0,
|
| 475 |
+
0.0,
|
| 476 |
+
0.0,
|
| 477 |
+
0.0,
|
| 478 |
+
0.0,
|
| 479 |
+
0.0,
|
| 480 |
+
0.0,
|
| 481 |
+
0.0,
|
| 482 |
+
0.0,
|
| 483 |
+
0.0,
|
| 484 |
+
0.0,
|
| 485 |
+
0.0,
|
| 486 |
+
0.0,
|
| 487 |
+
0.0,
|
| 488 |
+
0.0,
|
| 489 |
+
0.0,
|
| 490 |
+
0.0,
|
| 491 |
+
0.0,
|
| 492 |
+
0.0
|
| 493 |
+
],
|
| 494 |
+
"min": [
|
| 495 |
+
0.16895243653887626,
|
| 496 |
+
-4.183418644973643,
|
| 497 |
+
1.3670318728864963,
|
| 498 |
+
-0.029617665312741733,
|
| 499 |
+
-0.1489587243758169,
|
| 500 |
+
-0.9183204725995019,
|
| 501 |
+
0.261211788764982,
|
| 502 |
+
-0.13634971433375398,
|
| 503 |
+
-0.3984877621257463,
|
| 504 |
+
-0.19595704982324236,
|
| 505 |
+
-0.6800758242607117,
|
| 506 |
+
-0.8175799250602722,
|
| 507 |
+
-0.865016758441925,
|
| 508 |
+
2.9702394385822117e-05,
|
| 509 |
+
0.0,
|
| 510 |
+
-4.134552361658686,
|
| 511 |
+
0.0,
|
| 512 |
+
-0.16615212396170806,
|
| 513 |
+
-0.4659411510999247,
|
| 514 |
+
-0.4581314384922285,
|
| 515 |
+
0.0,
|
| 516 |
+
-0.09973186675220802,
|
| 517 |
+
-0.38944860769306455,
|
| 518 |
+
-0.12431114437953461,
|
| 519 |
+
-0.9961073398590088,
|
| 520 |
+
-0.9801256656646729,
|
| 521 |
+
-0.8541940450668335,
|
| 522 |
+
0.0,
|
| 523 |
+
0.0,
|
| 524 |
+
0.0,
|
| 525 |
+
0.0,
|
| 526 |
+
0.0,
|
| 527 |
+
0.0,
|
| 528 |
+
0.0,
|
| 529 |
+
0.0,
|
| 530 |
+
0.0,
|
| 531 |
+
0.0,
|
| 532 |
+
0.0,
|
| 533 |
+
0.0,
|
| 534 |
+
0.0,
|
| 535 |
+
0.0,
|
| 536 |
+
0.0,
|
| 537 |
+
0.0,
|
| 538 |
+
0.0,
|
| 539 |
+
0.0,
|
| 540 |
+
0.0,
|
| 541 |
+
0.0,
|
| 542 |
+
0.0,
|
| 543 |
+
0.0,
|
| 544 |
+
0.0,
|
| 545 |
+
0.0,
|
| 546 |
+
0.0,
|
| 547 |
+
0.0,
|
| 548 |
+
0.0,
|
| 549 |
+
0.0,
|
| 550 |
+
0.0
|
| 551 |
+
],
|
| 552 |
+
"mean": [
|
| 553 |
+
2.3624208695206637,
|
| 554 |
+
-2.151950687885569,
|
| 555 |
+
1.469641054417978,
|
| 556 |
+
0.005127381361695062,
|
| 557 |
+
-0.002168336697411531,
|
| 558 |
+
0.014636014975354402,
|
| 559 |
+
0.7173667162989268,
|
| 560 |
+
0.2510288082463291,
|
| 561 |
+
-0.08625971452460965,
|
| 562 |
+
0.32647462233564317,
|
| 563 |
+
0.18694871248804582,
|
| 564 |
+
0.3441928006759649,
|
| 565 |
+
0.2122946630640656,
|
| 566 |
+
0.2026485255577617,
|
| 567 |
+
1.0981681523173277,
|
| 568 |
+
-1.0740252592916033,
|
| 569 |
+
0.7549310695434421,
|
| 570 |
+
0.005427295964210261,
|
| 571 |
+
0.009976114983750803,
|
| 572 |
+
-0.018227455802231934,
|
| 573 |
+
0.4908050909631615,
|
| 574 |
+
0.1237114187062934,
|
| 575 |
+
-0.0494019537657495,
|
| 576 |
+
0.16656516951884714,
|
| 577 |
+
-0.14879690223077824,
|
| 578 |
+
0.08328155599206301,
|
| 579 |
+
-0.009878837906647448,
|
| 580 |
+
0.19306073248227848,
|
| 581 |
+
0.0,
|
| 582 |
+
0.0,
|
| 583 |
+
0.0,
|
| 584 |
+
0.0,
|
| 585 |
+
0.0,
|
| 586 |
+
0.0,
|
| 587 |
+
0.0,
|
| 588 |
+
0.0,
|
| 589 |
+
0.0,
|
| 590 |
+
0.0,
|
| 591 |
+
0.0,
|
| 592 |
+
0.0,
|
| 593 |
+
0.0,
|
| 594 |
+
0.0,
|
| 595 |
+
0.0,
|
| 596 |
+
0.0,
|
| 597 |
+
0.0,
|
| 598 |
+
0.0,
|
| 599 |
+
0.0,
|
| 600 |
+
0.0,
|
| 601 |
+
0.0,
|
| 602 |
+
0.0,
|
| 603 |
+
0.0,
|
| 604 |
+
0.0,
|
| 605 |
+
0.0,
|
| 606 |
+
0.0,
|
| 607 |
+
0.0,
|
| 608 |
+
0.0
|
| 609 |
+
],
|
| 610 |
+
"std": [
|
| 611 |
+
1.9883456102658776,
|
| 612 |
+
1.1736641706471531,
|
| 613 |
+
0.05174287241139583,
|
| 614 |
+
0.027690113688412323,
|
| 615 |
+
0.029459976371092766,
|
| 616 |
+
0.6666647979320135,
|
| 617 |
+
0.19764413546292228,
|
| 618 |
+
0.11897329339371471,
|
| 619 |
+
0.11068179393856001,
|
| 620 |
+
0.17469339192350805,
|
| 621 |
+
0.34469503888843617,
|
| 622 |
+
0.5553790415174656,
|
| 623 |
+
0.5643061000727062,
|
| 624 |
+
0.12142535883678669,
|
| 625 |
+
1.7623133507528232,
|
| 626 |
+
1.3449746036288157,
|
| 627 |
+
0.730709798077666,
|
| 628 |
+
0.07265472923818647,
|
| 629 |
+
0.12000152199725214,
|
| 630 |
+
0.17056282937293907,
|
| 631 |
+
0.4758238793826269,
|
| 632 |
+
0.14460933893549138,
|
| 633 |
+
0.0889619346415043,
|
| 634 |
+
0.20112483591074473,
|
| 635 |
+
0.3553950936058482,
|
| 636 |
+
0.39033726467446594,
|
| 637 |
+
0.32767439875124066,
|
| 638 |
+
0.2530696288915033,
|
| 639 |
+
0.0,
|
| 640 |
+
0.0,
|
| 641 |
+
0.0,
|
| 642 |
+
0.0,
|
| 643 |
+
0.0,
|
| 644 |
+
0.0,
|
| 645 |
+
0.0,
|
| 646 |
+
0.0,
|
| 647 |
+
0.0,
|
| 648 |
+
0.0,
|
| 649 |
+
0.0,
|
| 650 |
+
0.0,
|
| 651 |
+
0.0,
|
| 652 |
+
0.0,
|
| 653 |
+
0.0,
|
| 654 |
+
0.0,
|
| 655 |
+
0.0,
|
| 656 |
+
0.0,
|
| 657 |
+
0.0,
|
| 658 |
+
0.0,
|
| 659 |
+
0.0,
|
| 660 |
+
0.0,
|
| 661 |
+
0.0,
|
| 662 |
+
0.0,
|
| 663 |
+
0.0,
|
| 664 |
+
0.0,
|
| 665 |
+
0.0,
|
| 666 |
+
0.0
|
| 667 |
+
],
|
| 668 |
+
"q01": [
|
| 669 |
+
0.16938518277280162,
|
| 670 |
+
-4.183418451759917,
|
| 671 |
+
1.367035973167415,
|
| 672 |
+
-0.029617662363317615,
|
| 673 |
+
-0.1477225725381629,
|
| 674 |
+
-0.9183204712129974,
|
| 675 |
+
0.26121179007079354,
|
| 676 |
+
-0.05761224416431528,
|
| 677 |
+
-0.33220198347460134,
|
| 678 |
+
-0.1352532900490507,
|
| 679 |
+
-0.36411500871181485,
|
| 680 |
+
-0.72949902176857,
|
| 681 |
+
-0.8094840979576111,
|
| 682 |
+
0.008459942303597928,
|
| 683 |
+
0.0,
|
| 684 |
+
-4.134546183943468,
|
| 685 |
+
0.0,
|
| 686 |
+
-0.1653511929691147,
|
| 687 |
+
-0.4507354309143416,
|
| 688 |
+
-0.45631272331227013,
|
| 689 |
+
0.0,
|
| 690 |
+
0.0,
|
| 691 |
+
-0.2943194543491361,
|
| 692 |
+
-0.08390012244351885,
|
| 693 |
+
-0.9493686318397522,
|
| 694 |
+
-0.7282303142547607,
|
| 695 |
+
-0.7840771412849427,
|
| 696 |
+
0.0,
|
| 697 |
+
0.0,
|
| 698 |
+
0.0,
|
| 699 |
+
0.0,
|
| 700 |
+
0.0,
|
| 701 |
+
0.0,
|
| 702 |
+
0.0,
|
| 703 |
+
0.0,
|
| 704 |
+
0.0,
|
| 705 |
+
0.0,
|
| 706 |
+
0.0,
|
| 707 |
+
0.0,
|
| 708 |
+
0.0,
|
| 709 |
+
0.0,
|
| 710 |
+
0.0,
|
| 711 |
+
0.0,
|
| 712 |
+
0.0,
|
| 713 |
+
0.0,
|
| 714 |
+
0.0,
|
| 715 |
+
0.0,
|
| 716 |
+
0.0,
|
| 717 |
+
0.0,
|
| 718 |
+
0.0,
|
| 719 |
+
0.0,
|
| 720 |
+
0.0,
|
| 721 |
+
0.0,
|
| 722 |
+
0.0,
|
| 723 |
+
0.0,
|
| 724 |
+
0.0
|
| 725 |
+
],
|
| 726 |
+
"q99": [
|
| 727 |
+
5.593526443337596,
|
| 728 |
+
-0.15886307528557758,
|
| 729 |
+
1.5886783634942576,
|
| 730 |
+
0.12971911837202008,
|
| 731 |
+
0.11809732747071491,
|
| 732 |
+
0.9652815136992549,
|
| 733 |
+
0.998381334973747,
|
| 734 |
+
0.4722790106016651,
|
| 735 |
+
0.15434159374664883,
|
| 736 |
+
0.6058403310789264,
|
| 737 |
+
0.8763562297821044,
|
| 738 |
+
0.9092132174968719,
|
| 739 |
+
0.8219503426551819,
|
| 740 |
+
0.5075966238975524,
|
| 741 |
+
5.566771303263171,
|
| 742 |
+
0.0,
|
| 743 |
+
1.5069654335275509,
|
| 744 |
+
0.4328371530365326,
|
| 745 |
+
0.46918396071995927,
|
| 746 |
+
0.3777638450930033,
|
| 747 |
+
0.9998541679386286,
|
| 748 |
+
0.4462019953767157,
|
| 749 |
+
0.1292249074646581,
|
| 750 |
+
0.5578715492833923,
|
| 751 |
+
0.9523927140235899,
|
| 752 |
+
0.9475159811973571,
|
| 753 |
+
0.8320208251476288,
|
| 754 |
+
0.7722656452655792,
|
| 755 |
+
0.0,
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.0,
|
| 759 |
+
0.0,
|
| 760 |
+
0.0,
|
| 761 |
+
0.0,
|
| 762 |
+
0.0,
|
| 763 |
+
0.0,
|
| 764 |
+
0.0,
|
| 765 |
+
0.0,
|
| 766 |
+
0.0,
|
| 767 |
+
0.0,
|
| 768 |
+
0.0,
|
| 769 |
+
0.0,
|
| 770 |
+
0.0,
|
| 771 |
+
0.0,
|
| 772 |
+
0.0,
|
| 773 |
+
0.0,
|
| 774 |
+
0.0,
|
| 775 |
+
0.0,
|
| 776 |
+
0.0,
|
| 777 |
+
0.0,
|
| 778 |
+
0.0,
|
| 779 |
+
0.0,
|
| 780 |
+
0.0,
|
| 781 |
+
0.0,
|
| 782 |
+
0.0
|
| 783 |
+
]
|
| 784 |
+
}
|
| 785 |
+
},
|
| 786 |
+
"action": {
|
| 787 |
+
"end_effector_position": {
|
| 788 |
+
"max": [
|
| 789 |
+
0.43955814838409424,
|
| 790 |
+
0.03061276488006115,
|
| 791 |
+
0.8752484917640686
|
| 792 |
+
],
|
| 793 |
+
"min": [
|
| 794 |
+
-0.04365120828151703,
|
| 795 |
+
-0.31192466616630554,
|
| 796 |
+
0.5823932886123657
|
| 797 |
+
],
|
| 798 |
+
"mean": [
|
| 799 |
+
0.19451159238815308,
|
| 800 |
+
-0.16853734850883484,
|
| 801 |
+
0.7783361673355103
|
| 802 |
+
],
|
| 803 |
+
"std": [
|
| 804 |
+
0.10513948649168015,
|
| 805 |
+
0.09715184569358826,
|
| 806 |
+
0.06691987067461014
|
| 807 |
+
],
|
| 808 |
+
"q01": [
|
| 809 |
+
-0.015472158677875996,
|
| 810 |
+
-0.28201385855674743,
|
| 811 |
+
0.5939851605892181
|
| 812 |
+
],
|
| 813 |
+
"q99": [
|
| 814 |
+
0.4278443735837936,
|
| 815 |
+
0.020756949372589567,
|
| 816 |
+
0.8583494365215302
|
| 817 |
+
]
|
| 818 |
+
},
|
| 819 |
+
"end_effector_rotation": {
|
| 820 |
+
"max": [
|
| 821 |
+
0.5236177444458008,
|
| 822 |
+
0.968902051448822,
|
| 823 |
+
0.9999951720237732,
|
| 824 |
+
0.9990928173065186,
|
| 825 |
+
0.9999980330467224,
|
| 826 |
+
0.521820068359375
|
| 827 |
+
],
|
| 828 |
+
"min": [
|
| 829 |
+
-0.6069518327713013,
|
| 830 |
+
-0.521287202835083,
|
| 831 |
+
0.24321052432060242,
|
| 832 |
+
-0.8088909387588501,
|
| 833 |
+
-0.26313042640686035,
|
| 834 |
+
-0.5810099244117737
|
| 835 |
+
],
|
| 836 |
+
"mean": [
|
| 837 |
+
0.0134206498041749,
|
| 838 |
+
0.17565394937992096,
|
| 839 |
+
0.8603443503379822,
|
| 840 |
+
0.450376957654953,
|
| 841 |
+
0.6711960434913635,
|
| 842 |
+
0.04413183778524399
|
| 843 |
+
],
|
| 844 |
+
"std": [
|
| 845 |
+
0.18328098952770233,
|
| 846 |
+
0.38674792647361755,
|
| 847 |
+
0.21355648338794708,
|
| 848 |
+
0.4506983160972595,
|
| 849 |
+
0.354437917470932,
|
| 850 |
+
0.12631569802761078
|
| 851 |
+
],
|
| 852 |
+
"q01": [
|
| 853 |
+
-0.443736093044281,
|
| 854 |
+
-0.35562986075878145,
|
| 855 |
+
0.266457576751709,
|
| 856 |
+
-0.5046290385723115,
|
| 857 |
+
0.04464391469955444,
|
| 858 |
+
-0.29818755090236665
|
| 859 |
+
],
|
| 860 |
+
"q99": [
|
| 861 |
+
0.45569671034812914,
|
| 862 |
+
0.9616902291774749,
|
| 863 |
+
0.999538152217865,
|
| 864 |
+
0.9980003273487091,
|
| 865 |
+
0.9994305217266083,
|
| 866 |
+
0.358832922577858
|
| 867 |
+
]
|
| 868 |
+
},
|
| 869 |
+
"gripper_close": {
|
| 870 |
+
"max": [
|
| 871 |
+
1.0
|
| 872 |
+
],
|
| 873 |
+
"min": [
|
| 874 |
+
0.0
|
| 875 |
+
],
|
| 876 |
+
"mean": [
|
| 877 |
+
0.9749725461006165
|
| 878 |
+
],
|
| 879 |
+
"std": [
|
| 880 |
+
0.15620853006839752
|
| 881 |
+
],
|
| 882 |
+
"q01": [
|
| 883 |
+
0.0
|
| 884 |
+
],
|
| 885 |
+
"q99": [
|
| 886 |
+
1.0
|
| 887 |
+
]
|
| 888 |
+
},
|
| 889 |
+
"base_motion": {
|
| 890 |
+
"max": [
|
| 891 |
+
0.0,
|
| 892 |
+
-0.0,
|
| 893 |
+
0.0,
|
| 894 |
+
0.0
|
| 895 |
+
],
|
| 896 |
+
"min": [
|
| 897 |
+
0.0,
|
| 898 |
+
-0.0,
|
| 899 |
+
0.0,
|
| 900 |
+
0.0
|
| 901 |
+
],
|
| 902 |
+
"mean": [
|
| 903 |
+
0.0,
|
| 904 |
+
0.0,
|
| 905 |
+
0.0,
|
| 906 |
+
0.0
|
| 907 |
+
],
|
| 908 |
+
"std": [
|
| 909 |
+
0.0,
|
| 910 |
+
0.0,
|
| 911 |
+
0.0,
|
| 912 |
+
0.0
|
| 913 |
+
],
|
| 914 |
+
"q01": [
|
| 915 |
+
0.0,
|
| 916 |
+
0.0,
|
| 917 |
+
0.0,
|
| 918 |
+
0.0
|
| 919 |
+
],
|
| 920 |
+
"q99": [
|
| 921 |
+
0.0,
|
| 922 |
+
-0.0,
|
| 923 |
+
0.0,
|
| 924 |
+
0.0
|
| 925 |
+
]
|
| 926 |
+
},
|
| 927 |
+
"control_mode": {
|
| 928 |
+
"max": [
|
| 929 |
+
0.0
|
| 930 |
+
],
|
| 931 |
+
"min": [
|
| 932 |
+
0.0
|
| 933 |
+
],
|
| 934 |
+
"mean": [
|
| 935 |
+
0.0
|
| 936 |
+
],
|
| 937 |
+
"std": [
|
| 938 |
+
0.0
|
| 939 |
+
],
|
| 940 |
+
"q01": [
|
| 941 |
+
0.0
|
| 942 |
+
],
|
| 943 |
+
"q99": [
|
| 944 |
+
0.0
|
| 945 |
+
]
|
| 946 |
+
},
|
| 947 |
+
"end_effector_rotation_axis_angle": {
|
| 948 |
+
"max": [
|
| 949 |
+
2.059661865234375,
|
| 950 |
+
2.263158082962036,
|
| 951 |
+
1.475414752960205
|
| 952 |
+
],
|
| 953 |
+
"min": [
|
| 954 |
+
-0.7509044408798218,
|
| 955 |
+
0.9790623784065247,
|
| 956 |
+
-0.7099984884262085
|
| 957 |
+
],
|
| 958 |
+
"mean": [
|
| 959 |
+
0.5958625078201294,
|
| 960 |
+
1.59481680393219,
|
| 961 |
+
0.3455313444137573
|
| 962 |
+
],
|
| 963 |
+
"std": [
|
| 964 |
+
0.7405564188957214,
|
| 965 |
+
0.2930235266685486,
|
| 966 |
+
0.3611631393432617
|
| 967 |
+
],
|
| 968 |
+
"q01": [
|
| 969 |
+
-0.41854443252086637,
|
| 970 |
+
1.049861159324646,
|
| 971 |
+
-0.474196018576622
|
| 972 |
+
],
|
| 973 |
+
"q99": [
|
| 974 |
+
2.0298136854171753,
|
| 975 |
+
2.165646781921387,
|
| 976 |
+
1.0826309037208557
|
| 977 |
+
]
|
| 978 |
+
},
|
| 979 |
+
"gripper_raw": {
|
| 980 |
+
"max": [
|
| 981 |
+
1.0
|
| 982 |
+
],
|
| 983 |
+
"min": [
|
| 984 |
+
-1.0
|
| 985 |
+
],
|
| 986 |
+
"mean": [
|
| 987 |
+
0.9499450325965881
|
| 988 |
+
],
|
| 989 |
+
"std": [
|
| 990 |
+
0.31241703033447266
|
| 991 |
+
],
|
| 992 |
+
"q01": [
|
| 993 |
+
-1.0
|
| 994 |
+
],
|
| 995 |
+
"q99": [
|
| 996 |
+
1.0
|
| 997 |
+
]
|
| 998 |
+
},
|
| 999 |
+
"end_effector_position_delta": {
|
| 1000 |
+
"max": [
|
| 1001 |
+
0.7357142567634583,
|
| 1002 |
+
1.0,
|
| 1003 |
+
0.6142857074737549
|
| 1004 |
+
],
|
| 1005 |
+
"min": [
|
| 1006 |
+
-1.0,
|
| 1007 |
+
-0.6214285492897034,
|
| 1008 |
+
-0.4357142746448517
|
| 1009 |
+
],
|
| 1010 |
+
"mean": [
|
| 1011 |
+
-0.019601618871092796,
|
| 1012 |
+
-0.06857345998287201,
|
| 1013 |
+
0.06927905976772308
|
| 1014 |
+
],
|
| 1015 |
+
"std": [
|
| 1016 |
+
0.33183661103248596,
|
| 1017 |
+
0.16053611040115356,
|
| 1018 |
+
0.13460592925548553
|
| 1019 |
+
],
|
| 1020 |
+
"q01": [
|
| 1021 |
+
-1.0,
|
| 1022 |
+
-0.4357142746448517,
|
| 1023 |
+
-0.18571428954601288
|
| 1024 |
+
],
|
| 1025 |
+
"q99": [
|
| 1026 |
+
0.4928571283817291,
|
| 1027 |
+
0.40714284777641296,
|
| 1028 |
+
0.4714285731315613
|
| 1029 |
+
]
|
| 1030 |
+
},
|
| 1031 |
+
"end_effector_rotation_delta": {
|
| 1032 |
+
"max": [
|
| 1033 |
+
1.0,
|
| 1034 |
+
0.5153324007987976,
|
| 1035 |
+
0.4058833122253418,
|
| 1036 |
+
0.30267807841300964,
|
| 1037 |
+
1.0,
|
| 1038 |
+
0.4911929965019226
|
| 1039 |
+
],
|
| 1040 |
+
"min": [
|
| 1041 |
+
0.8551462888717651,
|
| 1042 |
+
-0.279763787984848,
|
| 1043 |
+
-0.3153097629547119,
|
| 1044 |
+
-0.4769035577774048,
|
| 1045 |
+
0.6887245774269104,
|
| 1046 |
+
-0.7240484356880188
|
| 1047 |
+
],
|
| 1048 |
+
"mean": [
|
| 1049 |
+
0.992119550704956,
|
| 1050 |
+
0.002326850313693285,
|
| 1051 |
+
-0.050024621188640594,
|
| 1052 |
+
0.006187745835632086,
|
| 1053 |
+
0.9902292490005493,
|
| 1054 |
+
0.02858659066259861
|
| 1055 |
+
],
|
| 1056 |
+
"std": [
|
| 1057 |
+
0.011414239183068275,
|
| 1058 |
+
0.06458614766597748,
|
| 1059 |
+
0.09430082142353058,
|
| 1060 |
+
0.062507763504982,
|
| 1061 |
+
0.021391382440924644,
|
| 1062 |
+
0.1192774847149849
|
| 1063 |
+
],
|
| 1064 |
+
"q01": [
|
| 1065 |
+
0.9532900452613831,
|
| 1066 |
+
-0.18409256041049957,
|
| 1067 |
+
-0.2398341879248619,
|
| 1068 |
+
-0.18869929671287536,
|
| 1069 |
+
0.8848599362373352,
|
| 1070 |
+
-0.440226691365242
|
| 1071 |
+
],
|
| 1072 |
+
"q99": [
|
| 1073 |
+
1.0,
|
| 1074 |
+
0.2235519185662268,
|
| 1075 |
+
0.23290454417467105,
|
| 1076 |
+
0.19178220510482788,
|
| 1077 |
+
1.0,
|
| 1078 |
+
0.2757797110080718
|
| 1079 |
+
]
|
| 1080 |
+
},
|
| 1081 |
+
"end_effector_rotation_delta_axis_angle": {
|
| 1082 |
+
"max": [
|
| 1083 |
+
0.800000011920929,
|
| 1084 |
+
0.5285714268684387,
|
| 1085 |
+
0.2971428632736206
|
| 1086 |
+
],
|
| 1087 |
+
"min": [
|
| 1088 |
+
-0.508571445941925,
|
| 1089 |
+
-0.3142857253551483,
|
| 1090 |
+
-0.5314285755157471
|
| 1091 |
+
],
|
| 1092 |
+
"mean": [
|
| 1093 |
+
-0.0296891238540411,
|
| 1094 |
+
-0.049341462552547455,
|
| 1095 |
+
0.0018536050338298082
|
| 1096 |
+
],
|
| 1097 |
+
"std": [
|
| 1098 |
+
0.12173827737569809,
|
| 1099 |
+
0.0967995673418045,
|
| 1100 |
+
0.0638594850897789
|
| 1101 |
+
],
|
| 1102 |
+
"q01": [
|
| 1103 |
+
-0.28285714983940125,
|
| 1104 |
+
-0.23999999463558197,
|
| 1105 |
+
-0.21068571299314498
|
| 1106 |
+
],
|
| 1107 |
+
"q99": [
|
| 1108 |
+
0.4514285624027252,
|
| 1109 |
+
0.2571428716182709,
|
| 1110 |
+
0.18857142329216003
|
| 1111 |
+
]
|
| 1112 |
+
},
|
| 1113 |
+
"raw_actions": {
|
| 1114 |
+
"max": [
|
| 1115 |
+
0.7357142567634583,
|
| 1116 |
+
1.0,
|
| 1117 |
+
0.6142857074737549,
|
| 1118 |
+
0.800000011920929,
|
| 1119 |
+
0.5285714268684387,
|
| 1120 |
+
0.2971428632736206,
|
| 1121 |
+
1.0,
|
| 1122 |
+
0.0,
|
| 1123 |
+
-0.0,
|
| 1124 |
+
0.0,
|
| 1125 |
+
0.0,
|
| 1126 |
+
-1.0
|
| 1127 |
+
],
|
| 1128 |
+
"min": [
|
| 1129 |
+
-1.0,
|
| 1130 |
+
-0.6214285492897034,
|
| 1131 |
+
-0.4357142746448517,
|
| 1132 |
+
-0.508571445941925,
|
| 1133 |
+
-0.3142857253551483,
|
| 1134 |
+
-0.5314285755157471,
|
| 1135 |
+
-1.0,
|
| 1136 |
+
0.0,
|
| 1137 |
+
-0.0,
|
| 1138 |
+
0.0,
|
| 1139 |
+
0.0,
|
| 1140 |
+
-1.0
|
| 1141 |
+
],
|
| 1142 |
+
"mean": [
|
| 1143 |
+
-0.019601618871092796,
|
| 1144 |
+
-0.06857345998287201,
|
| 1145 |
+
0.06927905976772308,
|
| 1146 |
+
-0.0296891238540411,
|
| 1147 |
+
-0.049341462552547455,
|
| 1148 |
+
0.0018536050338298082,
|
| 1149 |
+
0.9499450325965881,
|
| 1150 |
+
0.0,
|
| 1151 |
+
0.0,
|
| 1152 |
+
0.0,
|
| 1153 |
+
0.0,
|
| 1154 |
+
-1.0
|
| 1155 |
+
],
|
| 1156 |
+
"std": [
|
| 1157 |
+
0.33183661103248596,
|
| 1158 |
+
0.16053611040115356,
|
| 1159 |
+
0.13460592925548553,
|
| 1160 |
+
0.12173827737569809,
|
| 1161 |
+
0.0967995673418045,
|
| 1162 |
+
0.0638594850897789,
|
| 1163 |
+
0.3124178647994995,
|
| 1164 |
+
0.0,
|
| 1165 |
+
0.0,
|
| 1166 |
+
0.0,
|
| 1167 |
+
0.0,
|
| 1168 |
+
0.0
|
| 1169 |
+
],
|
| 1170 |
+
"q01": [
|
| 1171 |
+
-1.0,
|
| 1172 |
+
-0.4357142746448517,
|
| 1173 |
+
-0.18571428954601288,
|
| 1174 |
+
-0.28285714983940125,
|
| 1175 |
+
-0.23999999463558197,
|
| 1176 |
+
-0.21068571299314498,
|
| 1177 |
+
-1.0,
|
| 1178 |
+
0.0,
|
| 1179 |
+
0.0,
|
| 1180 |
+
0.0,
|
| 1181 |
+
0.0,
|
| 1182 |
+
-1.0
|
| 1183 |
+
],
|
| 1184 |
+
"q99": [
|
| 1185 |
+
0.4928571283817291,
|
| 1186 |
+
0.40714284777641296,
|
| 1187 |
+
0.4714285731315613,
|
| 1188 |
+
0.4514285624027252,
|
| 1189 |
+
0.2571428716182709,
|
| 1190 |
+
0.18857142329216003,
|
| 1191 |
+
1.0,
|
| 1192 |
+
0.0,
|
| 1193 |
+
-0.0,
|
| 1194 |
+
0.0,
|
| 1195 |
+
0.0,
|
| 1196 |
+
-1.0
|
| 1197 |
+
]
|
| 1198 |
+
}
|
| 1199 |
+
}
|
| 1200 |
+
},
|
| 1201 |
+
"modalities": {
|
| 1202 |
+
"video": {
|
| 1203 |
+
"left_view": {
|
| 1204 |
+
"resolution": [
|
| 1205 |
+
128,
|
| 1206 |
+
128
|
| 1207 |
+
],
|
| 1208 |
+
"channels": 3,
|
| 1209 |
+
"fps": 12.0
|
| 1210 |
+
},
|
| 1211 |
+
"right_view": {
|
| 1212 |
+
"resolution": [
|
| 1213 |
+
128,
|
| 1214 |
+
128
|
| 1215 |
+
],
|
| 1216 |
+
"channels": 3,
|
| 1217 |
+
"fps": 12.0
|
| 1218 |
+
},
|
| 1219 |
+
"wrist_view": {
|
| 1220 |
+
"resolution": [
|
| 1221 |
+
128,
|
| 1222 |
+
128
|
| 1223 |
+
],
|
| 1224 |
+
"channels": 3,
|
| 1225 |
+
"fps": 12.0
|
| 1226 |
+
}
|
| 1227 |
+
},
|
| 1228 |
+
"state": {
|
| 1229 |
+
"end_effector_position_relative": {
|
| 1230 |
+
"absolute": true,
|
| 1231 |
+
"rotation_type": null,
|
| 1232 |
+
"shape": [
|
| 1233 |
+
3
|
| 1234 |
+
],
|
| 1235 |
+
"continuous": true
|
| 1236 |
+
},
|
| 1237 |
+
"end_effector_rotation_relative": {
|
| 1238 |
+
"absolute": true,
|
| 1239 |
+
"rotation_type": "rotation_6d",
|
| 1240 |
+
"shape": [
|
| 1241 |
+
6
|
| 1242 |
+
],
|
| 1243 |
+
"continuous": true
|
| 1244 |
+
},
|
| 1245 |
+
"gripper_qpos": {
|
| 1246 |
+
"absolute": true,
|
| 1247 |
+
"rotation_type": null,
|
| 1248 |
+
"shape": [
|
| 1249 |
+
1
|
| 1250 |
+
],
|
| 1251 |
+
"continuous": true
|
| 1252 |
+
},
|
| 1253 |
+
"base_position": {
|
| 1254 |
+
"absolute": true,
|
| 1255 |
+
"rotation_type": null,
|
| 1256 |
+
"shape": [
|
| 1257 |
+
3
|
| 1258 |
+
],
|
| 1259 |
+
"continuous": true
|
| 1260 |
+
},
|
| 1261 |
+
"base_rotation": {
|
| 1262 |
+
"absolute": true,
|
| 1263 |
+
"rotation_type": "rotation_6d",
|
| 1264 |
+
"shape": [
|
| 1265 |
+
6
|
| 1266 |
+
],
|
| 1267 |
+
"continuous": true
|
| 1268 |
+
},
|
| 1269 |
+
"end_effector_position": {
|
| 1270 |
+
"absolute": true,
|
| 1271 |
+
"rotation_type": null,
|
| 1272 |
+
"shape": [
|
| 1273 |
+
3
|
| 1274 |
+
],
|
| 1275 |
+
"continuous": true
|
| 1276 |
+
},
|
| 1277 |
+
"end_effector_rotation": {
|
| 1278 |
+
"absolute": true,
|
| 1279 |
+
"rotation_type": "rotation_6d",
|
| 1280 |
+
"shape": [
|
| 1281 |
+
6
|
| 1282 |
+
],
|
| 1283 |
+
"continuous": true
|
| 1284 |
+
},
|
| 1285 |
+
"joint_position": {
|
| 1286 |
+
"absolute": true,
|
| 1287 |
+
"rotation_type": null,
|
| 1288 |
+
"shape": [
|
| 1289 |
+
7
|
| 1290 |
+
],
|
| 1291 |
+
"continuous": true
|
| 1292 |
+
},
|
| 1293 |
+
"joint_velocity": {
|
| 1294 |
+
"absolute": false,
|
| 1295 |
+
"rotation_type": null,
|
| 1296 |
+
"shape": [
|
| 1297 |
+
7
|
| 1298 |
+
],
|
| 1299 |
+
"continuous": true
|
| 1300 |
+
},
|
| 1301 |
+
"gripper_qpos_raw": {
|
| 1302 |
+
"absolute": true,
|
| 1303 |
+
"rotation_type": null,
|
| 1304 |
+
"shape": [
|
| 1305 |
+
2
|
| 1306 |
+
],
|
| 1307 |
+
"continuous": true
|
| 1308 |
+
},
|
| 1309 |
+
"gripper_qvel": {
|
| 1310 |
+
"absolute": false,
|
| 1311 |
+
"rotation_type": null,
|
| 1312 |
+
"shape": [
|
| 1313 |
+
2
|
| 1314 |
+
],
|
| 1315 |
+
"continuous": true
|
| 1316 |
+
},
|
| 1317 |
+
"object_state": {
|
| 1318 |
+
"absolute": true,
|
| 1319 |
+
"rotation_type": null,
|
| 1320 |
+
"shape": [
|
| 1321 |
+
56
|
| 1322 |
+
],
|
| 1323 |
+
"continuous": true
|
| 1324 |
+
}
|
| 1325 |
+
},
|
| 1326 |
+
"action": {
|
| 1327 |
+
"end_effector_position": {
|
| 1328 |
+
"absolute": true,
|
| 1329 |
+
"rotation_type": null,
|
| 1330 |
+
"shape": [
|
| 1331 |
+
3
|
| 1332 |
+
],
|
| 1333 |
+
"continuous": true
|
| 1334 |
+
},
|
| 1335 |
+
"end_effector_rotation": {
|
| 1336 |
+
"absolute": true,
|
| 1337 |
+
"rotation_type": "rotation_6d",
|
| 1338 |
+
"shape": [
|
| 1339 |
+
6
|
| 1340 |
+
],
|
| 1341 |
+
"continuous": true
|
| 1342 |
+
},
|
| 1343 |
+
"gripper_close": {
|
| 1344 |
+
"absolute": true,
|
| 1345 |
+
"rotation_type": null,
|
| 1346 |
+
"shape": [
|
| 1347 |
+
1
|
| 1348 |
+
],
|
| 1349 |
+
"continuous": true
|
| 1350 |
+
},
|
| 1351 |
+
"base_motion": {
|
| 1352 |
+
"absolute": false,
|
| 1353 |
+
"rotation_type": null,
|
| 1354 |
+
"shape": [
|
| 1355 |
+
4
|
| 1356 |
+
],
|
| 1357 |
+
"continuous": true
|
| 1358 |
+
},
|
| 1359 |
+
"control_mode": {
|
| 1360 |
+
"absolute": true,
|
| 1361 |
+
"rotation_type": null,
|
| 1362 |
+
"shape": [
|
| 1363 |
+
1
|
| 1364 |
+
],
|
| 1365 |
+
"continuous": true
|
| 1366 |
+
},
|
| 1367 |
+
"end_effector_rotation_axis_angle": {
|
| 1368 |
+
"absolute": true,
|
| 1369 |
+
"rotation_type": "axis_angle",
|
| 1370 |
+
"shape": [
|
| 1371 |
+
3
|
| 1372 |
+
],
|
| 1373 |
+
"continuous": true
|
| 1374 |
+
},
|
| 1375 |
+
"gripper_raw": {
|
| 1376 |
+
"absolute": true,
|
| 1377 |
+
"rotation_type": null,
|
| 1378 |
+
"shape": [
|
| 1379 |
+
1
|
| 1380 |
+
],
|
| 1381 |
+
"continuous": true
|
| 1382 |
+
},
|
| 1383 |
+
"end_effector_position_delta": {
|
| 1384 |
+
"absolute": false,
|
| 1385 |
+
"rotation_type": null,
|
| 1386 |
+
"shape": [
|
| 1387 |
+
3
|
| 1388 |
+
],
|
| 1389 |
+
"continuous": true
|
| 1390 |
+
},
|
| 1391 |
+
"end_effector_rotation_delta": {
|
| 1392 |
+
"absolute": false,
|
| 1393 |
+
"rotation_type": "rotation_6d",
|
| 1394 |
+
"shape": [
|
| 1395 |
+
6
|
| 1396 |
+
],
|
| 1397 |
+
"continuous": true
|
| 1398 |
+
},
|
| 1399 |
+
"end_effector_rotation_delta_axis_angle": {
|
| 1400 |
+
"absolute": false,
|
| 1401 |
+
"rotation_type": "axis_angle",
|
| 1402 |
+
"shape": [
|
| 1403 |
+
3
|
| 1404 |
+
],
|
| 1405 |
+
"continuous": true
|
| 1406 |
+
},
|
| 1407 |
+
"raw_actions": {
|
| 1408 |
+
"absolute": false,
|
| 1409 |
+
"rotation_type": null,
|
| 1410 |
+
"shape": [
|
| 1411 |
+
12
|
| 1412 |
+
],
|
| 1413 |
+
"continuous": true
|
| 1414 |
+
}
|
| 1415 |
+
}
|
| 1416 |
+
},
|
| 1417 |
+
"embodiment_tag": "new_embodiment"
|
| 1418 |
+
}
|
| 1419 |
+
}
|
model-00001-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5eae5611b916fce75c8d77800afc91f401f21749a54458cad4735eef23db3cda
|
| 3 |
+
size 4999367032
|
model-00002-of-00002.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92c3d45b7bcf71a463426f55253bfaead953015e0c1dab321730cb611b95ab41
|
| 3 |
+
size 2586705312
|
model.safetensors.index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|