{ "new_embodiment": { "statistics": { "state": { "end_effector_position_relative": { "max": [ 0.4181619100609728, 0.0308545362411623, 0.8752546450560161 ], "min": [ -0.043650974118084385, -0.32974839528784505, 0.5820385698295865 ], "mean": [ 0.19549351715974225, -0.16510732171974554, 0.7748735208340017 ], "std": [ 0.10211621799135089, 0.09908158156573514, 0.07028948555677758 ], "q01": [ -0.014228080128689256, -0.28358435981453534, 0.5926698200952727 ], "q99": [ 0.414096506052477, 0.021101291764264736, 0.8569628300837064 ] }, "end_effector_rotation_relative": { "max": [ 0.9689008593559265, 0.5466217994689941, 0.9999983906745911, 0.9999834895133972, 0.7833200693130493, 0.4886855185031891 ], "min": [ -0.4953543245792389, -0.5180434584617615, 0.24320945143699646, -0.19838300347328186, -0.9988648891448975, -0.49379634857177734 ], "mean": [ 0.18976996839046478, -0.013411656022071838, 0.8490729928016663, 0.6587359309196472, -0.46085840463638306, 0.04568857327103615 ], "std": [ 0.39946448802948, 0.17894211411476135, 0.22648169100284576, 0.36174166202545166, 0.45372167229652405, 0.12193708121776581 ], "q01": [ -0.3544185429811478, -0.4504800873994827, 0.26553714632987974, 0.04521940886974335, -0.9980285716056824, -0.2892948114871979 ], "q99": [ 0.9618603789806366, 0.4354257798194884, 0.9995543873310089, 0.9994305968284607, 0.49924212753772707, 0.34700575232505787 ] }, "gripper_qpos": { "max": [ 0.0008953420885029349 ], "min": [ -0.020573671963880935 ], "mean": [ -0.0009071546146754186 ], "std": [ 0.0022832031370229916 ], "q01": [ -0.013158236360731978 ], "q99": [ 5.286543971560085e-05 ] }, "base_position": { "max": [ 4.9999956008718485, -0.8599956047106627, 0.7000432568910264 ], "min": [ 0.8499236880878013, -4.100056359951939, 0.6998859080014052 ], "mean": [ 2.3202984329769167, -2.2553101449485102, 0.7000011620388691 ], "std": [ 1.5492805895021928, 0.9834126569996677, 1.248803220582768e-05 ], "q01": [ 0.8499730767858734, -4.100003857933474, 0.6999488671813756 ], "q99": [ 4.999993903989089, -0.8599977170887793, 0.7000238960844105 ] }, "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": [ 0.06608930230140686, -0.1621783971786499, 0.0, 0.1621783971786499, 0.06608930230140686, 0.0 ], "std": [ 0.8746252059936523, 0.4520563781261444, 0.0, 0.4520563781261444, 0.8746252059936523, 0.0 ], "q01": [ -1.0, -1.0, 0.0, -1.0, -1.0, 0.0 ], "q99": [ 1.0, 1.0, 0.0, 1.0, 1.0, -0.0 ] }, "end_effector_position": { "max": [ 5.300032590220477, -0.44270592816077475, 1.575263025693424 ], "min": [ 0.44197564082231355, -4.1308532926716355, 1.2820361498901423 ], "mean": [ 2.3636602894759458, -2.233265158726466, 1.474874682872874 ], "std": [ 1.6833952893980746, 1.0330057114479625, 0.0702879201993236 ], "q01": [ 0.45860480930338465, -4.106956605268531, 1.2926696667136706 ], "q99": [ 5.286845700255552, -0.462869718272668, 1.5569398755675619 ] }, "end_effector_rotation": { "max": [ 0.9877333641052246, 0.9982763528823853, 0.999998152256012, 0.9999834895133972, 0.9980407357215881, 0.9999663829803467 ], "min": [ -0.9999273419380188, -0.9978914856910706, -0.999984860420227, -0.9999240040779114, -0.9988647699356079, -0.9996803998947144 ], "mean": [ -0.09454414248466492, 0.08071496337652206, 0.05775091052055359, 0.08651120215654373, -0.0321514792740345, 0.14155499637126923 ], "std": [ 0.5170160531997681, 0.3393744230270386, 0.7737748026847839, 0.690394401550293, 0.5724771618843079, 0.40874090790748596 ], "q01": [ -0.990128208398819, -0.7933373177051544, -0.998014475107193, -0.9978462123870849, -0.9979254221916198, -0.9668035960197449 ], "q99": [ 0.9645920050144196, 0.9975146329402924, 0.9989914882183075, 0.9994049966335297, 0.9973492598533631, 0.9987982869148254 ] }, "joint_position": { "max": [ 0.9720172427944607, -0.43578247839774137, 0.0653378391474494, -1.8255634580605906, 0.6059110785495901, 3.7514592474981425, 0.7388787003937193 ], "min": [ -0.115669421843946, -1.7650239207849476, -0.9103602785717804, -2.76777159631357, -0.8498008114800084, 1.3843337849803117, -2.2832742428010837 ], "mean": [ 0.15452219014119004, -1.3044343889132761, -0.3766358710749179, -2.2446133165123325, 0.009320271340670738, 2.3270719071666615, -0.5262045065259806 ], "std": [ 0.1999304311565361, 0.23158935092919514, 0.2334189426378394, 0.14087850161632315, 0.19719004746661076, 0.577790546551505, 0.8195415194568316 ], "q01": [ -0.044343663184077314, -1.757437493481021, -0.8422864751854968, -2.5806745169659484, -0.559525398787613, 1.4214818028064369, -1.9738577550945735 ], "q99": [ 0.8240125670415227, -0.8008670727410195, 0.028815236927997284, -1.931809833728785, 0.5356956414396122, 3.348061870042647, 0.717554394743196 ] }, "joint_velocity": { "max": [ 0.4484456295105399, 0.5409197935050618, 0.6582552124714973, 0.8031451743319653, 0.5882339008367159, 0.7955301464958715, 2.3622291754364806 ], "min": [ -0.9335028904662748, -0.7593810219234775, -0.3824142091183109, -0.5389461923271797, -1.0080363231403466, -1.5904333350295878, -1.0825424922659563 ], "mean": [ 0.005891905998671241, -0.032166077246442375, -0.03296307930972533, 0.004737451638840554, -0.013431140259285526, 0.060948021680494686, -0.11461401824899232 ], "std": [ 0.1491223865660471, 0.16717334009845594, 0.11365251947260833, 0.12683454843836203, 0.15373520890543765, 0.29264435296092234, 0.3577362698068471 ], "q01": [ -0.5686735819668916, -0.4949664059338452, -0.24645012722446605, -0.33138680863690106, -0.5434454413482969, -1.0404101843868387, -0.842379799067586 ], "q99": [ 0.2889700542943816, 0.25654001812153665, 0.36942547542137977, 0.3294175198290093, 0.3700078838699142, 0.5642196945214634, 1.066047883126651 ] }, "gripper_qpos_raw": { "max": [ 0.039429657247979165, 0.00039637215613537463 ], "min": [ -0.0012700733628542246, -0.041110893109759156 ], "mean": [ 0.0018515069464284648, -0.0036658161757792927 ], "std": [ 0.006774284529058116, 0.007740254885910702 ], "q01": [ -0.00010674583582726148, -0.038516239621173794 ], "q99": [ 0.03803832974816365, -0.00048071635910659907 ] }, "gripper_qvel": { "max": [ 0.06859443169737384, 0.18057272619827655 ], "min": [ -0.06875043811534665, -0.14290079251975732 ], "mean": [ -0.001516957946822031, 0.0013972184407116653 ], "std": [ 0.012518286869209944, 0.02083960320855695 ], "q01": [ -0.06587091617749209, -0.05990473119790972 ], "q99": [ 0.040162216925987475, 0.06851761578505854 ] }, "object_state": { "max": [ 5.59352648597991, -0.1587695177179644, 1.5886793816796396, 0.44360829555009124, 0.12513914134021675, 0.9652815140522155, 0.9983815152261414, 0.5289577509815331, 0.209925017112373, 0.6398369710140912, 0.9269306063652039, 0.9233285188674927, 0.864370584487915, 0.6429691314697266, 5.566804487133329, 0.0, 1.5069654344565306, 0.5011069973268045, 0.5005491500462916, 0.40541911814447557, 0.9998554743619742, 0.48205404049687495, 0.22235884381037874, 0.6064379543570979, 0.9972768425941467, 0.9872007369995117, 0.8506573438644409, 0.7933899760246277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "min": [ 0.16895243653887626, -4.183418644973643, 1.3670318728864963, -0.029617665312741733, -0.1489587243758169, -0.9183204725995019, 0.261211788764982, -0.13634971433375398, -0.3984877621257463, -0.19595704982324236, -0.6800758242607117, -0.8175799250602722, -0.865016758441925, 2.9702394385822117e-05, 0.0, -4.134552361658686, 0.0, -0.16615212396170806, -0.4659411510999247, -0.4581314384922285, 0.0, -0.09973186675220802, -0.38944860769306455, -0.12431114437953461, -0.9961073398590088, -0.9801256656646729, -0.8541940450668335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "mean": [ 2.3624208695206637, -2.151950687885569, 1.469641054417978, 0.005127381361695062, -0.002168336697411531, 0.014636014975354402, 0.7173667162989268, 0.2510288082463291, -0.08625971452460965, 0.32647462233564317, 0.18694871248804582, 0.3441928006759649, 0.2122946630640656, 0.2026485255577617, 1.0981681523173277, -1.0740252592916033, 0.7549310695434421, 0.005427295964210261, 0.009976114983750803, -0.018227455802231934, 0.4908050909631615, 0.1237114187062934, -0.0494019537657495, 0.16656516951884714, -0.14879690223077824, 0.08328155599206301, -0.009878837906647448, 0.19306073248227848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 1.9883456102658776, 1.1736641706471531, 0.05174287241139583, 0.027690113688412323, 0.029459976371092766, 0.6666647979320135, 0.19764413546292228, 0.11897329339371471, 0.11068179393856001, 0.17469339192350805, 0.34469503888843617, 0.5553790415174656, 0.5643061000727062, 0.12142535883678669, 1.7623133507528232, 1.3449746036288157, 0.730709798077666, 0.07265472923818647, 0.12000152199725214, 0.17056282937293907, 0.4758238793826269, 0.14460933893549138, 0.0889619346415043, 0.20112483591074473, 0.3553950936058482, 0.39033726467446594, 0.32767439875124066, 0.2530696288915033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "q01": [ 0.16938518277280162, -4.183418451759917, 1.367035973167415, -0.029617662363317615, -0.1477225725381629, -0.9183204712129974, 0.26121179007079354, -0.05761224416431528, -0.33220198347460134, -0.1352532900490507, -0.36411500871181485, -0.72949902176857, -0.8094840979576111, 0.008459942303597928, 0.0, -4.134546183943468, 0.0, -0.1653511929691147, -0.4507354309143416, -0.45631272331227013, 0.0, 0.0, -0.2943194543491361, -0.08390012244351885, -0.9493686318397522, -0.7282303142547607, -0.7840771412849427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "q99": [ 5.593526443337596, -0.15886307528557758, 1.5886783634942576, 0.12971911837202008, 0.11809732747071491, 0.9652815136992549, 0.998381334973747, 0.4722790106016651, 0.15434159374664883, 0.6058403310789264, 0.8763562297821044, 0.9092132174968719, 0.8219503426551819, 0.5075966238975524, 5.566771303263171, 0.0, 1.5069654335275509, 0.4328371530365326, 0.46918396071995927, 0.3777638450930033, 0.9998541679386286, 0.4462019953767157, 0.1292249074646581, 0.5578715492833923, 0.9523927140235899, 0.9475159811973571, 0.8320208251476288, 0.7722656452655792, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ] } }, "action": { "end_effector_position": { "max": [ 0.43955814838409424, 0.03061276488006115, 0.8752484917640686 ], "min": [ -0.04365120828151703, -0.31192466616630554, 0.5823932886123657 ], "mean": [ 0.19451159238815308, -0.16853734850883484, 0.7783361673355103 ], "std": [ 0.10513948649168015, 0.09715184569358826, 0.06691987067461014 ], "q01": [ -0.015472158677875996, -0.28201385855674743, 0.5939851605892181 ], "q99": [ 0.4278443735837936, 0.020756949372589567, 0.8583494365215302 ] }, "end_effector_rotation": { "max": [ 0.5236177444458008, 0.968902051448822, 0.9999951720237732, 0.9990928173065186, 0.9999980330467224, 0.521820068359375 ], "min": [ -0.6069518327713013, -0.521287202835083, 0.24321052432060242, -0.8088909387588501, -0.26313042640686035, -0.5810099244117737 ], "mean": [ 0.0134206498041749, 0.17565394937992096, 0.8603443503379822, 0.450376957654953, 0.6711960434913635, 0.04413183778524399 ], "std": [ 0.18328098952770233, 0.38674792647361755, 0.21355648338794708, 0.4506983160972595, 0.354437917470932, 0.12631569802761078 ], "q01": [ -0.443736093044281, -0.35562986075878145, 0.266457576751709, -0.5046290385723115, 0.04464391469955444, -0.29818755090236665 ], "q99": [ 0.45569671034812914, 0.9616902291774749, 0.999538152217865, 0.9980003273487091, 0.9994305217266083, 0.358832922577858 ] }, "gripper_close": { "max": [ 1.0 ], "min": [ 0.0 ], "mean": [ 0.9749725461006165 ], "std": [ 0.15620853006839752 ], "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": [ 2.059661865234375, 2.263158082962036, 1.475414752960205 ], "min": [ -0.7509044408798218, 0.9790623784065247, -0.7099984884262085 ], "mean": [ 0.5958625078201294, 1.59481680393219, 0.3455313444137573 ], "std": [ 0.7405564188957214, 0.2930235266685486, 0.3611631393432617 ], "q01": [ -0.41854443252086637, 1.049861159324646, -0.474196018576622 ], "q99": [ 2.0298136854171753, 2.165646781921387, 1.0826309037208557 ] }, "gripper_raw": { "max": [ 1.0 ], "min": [ -1.0 ], "mean": [ 0.9499450325965881 ], "std": [ 0.31241703033447266 ], "q01": [ -1.0 ], "q99": [ 1.0 ] }, "end_effector_position_delta": { "max": [ 0.7357142567634583, 1.0, 0.6142857074737549 ], "min": [ -1.0, -0.6214285492897034, -0.4357142746448517 ], "mean": [ -0.019601618871092796, -0.06857345998287201, 0.06927905976772308 ], "std": [ 0.33183661103248596, 0.16053611040115356, 0.13460592925548553 ], "q01": [ -1.0, -0.4357142746448517, -0.18571428954601288 ], "q99": [ 0.4928571283817291, 0.40714284777641296, 0.4714285731315613 ] }, "end_effector_rotation_delta": { "max": [ 1.0, 0.5153324007987976, 0.4058833122253418, 0.30267807841300964, 1.0, 0.4911929965019226 ], "min": [ 0.8551462888717651, -0.279763787984848, -0.3153097629547119, -0.4769035577774048, 0.6887245774269104, -0.7240484356880188 ], "mean": [ 0.992119550704956, 0.002326850313693285, -0.050024621188640594, 0.006187745835632086, 0.9902292490005493, 0.02858659066259861 ], "std": [ 0.011414239183068275, 0.06458614766597748, 0.09430082142353058, 0.062507763504982, 0.021391382440924644, 0.1192774847149849 ], "q01": [ 0.9532900452613831, -0.18409256041049957, -0.2398341879248619, -0.18869929671287536, 0.8848599362373352, -0.440226691365242 ], "q99": [ 1.0, 0.2235519185662268, 0.23290454417467105, 0.19178220510482788, 1.0, 0.2757797110080718 ] }, "end_effector_rotation_delta_axis_angle": { "max": [ 0.800000011920929, 0.5285714268684387, 0.2971428632736206 ], "min": [ -0.508571445941925, -0.3142857253551483, -0.5314285755157471 ], "mean": [ -0.0296891238540411, -0.049341462552547455, 0.0018536050338298082 ], "std": [ 0.12173827737569809, 0.0967995673418045, 0.0638594850897789 ], "q01": [ -0.28285714983940125, -0.23999999463558197, -0.21068571299314498 ], "q99": [ 0.4514285624027252, 0.2571428716182709, 0.18857142329216003 ] }, "raw_actions": { "max": [ 0.7357142567634583, 1.0, 0.6142857074737549, 0.800000011920929, 0.5285714268684387, 0.2971428632736206, 1.0, 0.0, -0.0, 0.0, 0.0, -1.0 ], "min": [ -1.0, -0.6214285492897034, -0.4357142746448517, -0.508571445941925, -0.3142857253551483, -0.5314285755157471, -1.0, 0.0, -0.0, 0.0, 0.0, -1.0 ], "mean": [ -0.019601618871092796, -0.06857345998287201, 0.06927905976772308, -0.0296891238540411, -0.049341462552547455, 0.0018536050338298082, 0.9499450325965881, 0.0, 0.0, 0.0, 0.0, -1.0 ], "std": [ 0.33183661103248596, 0.16053611040115356, 0.13460592925548553, 0.12173827737569809, 0.0967995673418045, 0.0638594850897789, 0.3124178647994995, 0.0, 0.0, 0.0, 0.0, 0.0 ], "q01": [ -1.0, -0.4357142746448517, -0.18571428954601288, -0.28285714983940125, -0.23999999463558197, -0.21068571299314498, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0 ], "q99": [ 0.4928571283817291, 0.40714284777641296, 0.4714285731315613, 0.4514285624027252, 0.2571428716182709, 0.18857142329216003, 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" } }