| { | |
| "new_embodiment": { | |
| "statistics": { | |
| "state": { | |
| "ee_pos": { | |
| "max": [ | |
| 0.5862360596656799, | |
| 0.4034728705883026, | |
| 0.3568263053894043 | |
| ], | |
| "min": [ | |
| -0.04167502000927925, | |
| -0.3563207685947418, | |
| -0.15537554025650024 | |
| ], | |
| "mean": [ | |
| 0.3094348609447479, | |
| 0.03072510100901127, | |
| 0.06444056332111359 | |
| ], | |
| "std": [ | |
| 0.06056898087263107, | |
| 0.09190694242715836, | |
| 0.05156300589442253 | |
| ], | |
| "q01": [ | |
| 0.17102622985839844, | |
| -0.1698118858039379, | |
| -0.055632163770496845 | |
| ], | |
| "q99": [ | |
| 0.45322076976299286, | |
| 0.2354845181107521, | |
| 0.19489620998501778 | |
| ] | |
| }, | |
| "ee_rot": { | |
| "max": [ | |
| 1.3517684936523438, | |
| 1.570796251296997, | |
| 3.141204357147217 | |
| ], | |
| "min": [ | |
| -3.141592502593994, | |
| -1.4992541074752808, | |
| -3.14153790473938 | |
| ], | |
| "mean": [ | |
| 0.006490640342235565, | |
| -0.07720029354095459, | |
| 0.10765893757343292 | |
| ], | |
| "std": [ | |
| 0.13109275698661804, | |
| 0.16913272440433502, | |
| 0.5779858231544495 | |
| ], | |
| "q01": [ | |
| -0.36493172496557236, | |
| -0.541871190071106, | |
| -1.354275494813919 | |
| ], | |
| "q99": [ | |
| 0.3780156075954437, | |
| 0.27568644285202026, | |
| 1.8500566184520721 | |
| ] | |
| }, | |
| "gripper": { | |
| "max": [ | |
| 1.1121242046356201 | |
| ], | |
| "min": [ | |
| 0.04637829214334488 | |
| ], | |
| "mean": [ | |
| 0.7081244587898254 | |
| ], | |
| "std": [ | |
| 0.3536500930786133 | |
| ], | |
| "q01": [ | |
| 0.052190229296684265 | |
| ], | |
| "q99": [ | |
| 1.0105689764022827 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "delta_ee_pos": { | |
| "max": [ | |
| 0.41691166162490845, | |
| 0.25864794850349426, | |
| 0.21218234300613403 | |
| ], | |
| "min": [ | |
| -0.4007510244846344, | |
| -0.13874775171279907, | |
| -0.22553899884223938 | |
| ], | |
| "mean": [ | |
| 0.00022731871285941452, | |
| 0.00013112221495248377, | |
| -0.00012641931243706495 | |
| ], | |
| "std": [ | |
| 0.009770569391548634, | |
| 0.013695062138140202, | |
| 0.012675146572291851 | |
| ], | |
| "q01": [ | |
| -0.02875255048274994, | |
| -0.04170213546603918, | |
| -0.026096721179783344 | |
| ], | |
| "q99": [ | |
| 0.028306663036346436, | |
| 0.04089853074401617, | |
| 0.0401805154979229 | |
| ] | |
| }, | |
| "delta_ee_rot": { | |
| "max": [ | |
| 3.122201919555664, | |
| 1.8618112802505493, | |
| 6.272472858428955 | |
| ], | |
| "min": [ | |
| -3.2010786533355713, | |
| -1.8618112802505493, | |
| -6.279075622558594 | |
| ], | |
| "mean": [ | |
| -0.00014410706353373826, | |
| -0.00039030605694279075, | |
| 0.0002406332059763372 | |
| ], | |
| "std": [ | |
| 0.028455283492803574, | |
| 0.03052123636007309, | |
| 0.07739030569791794 | |
| ], | |
| "q01": [ | |
| -0.08052874729037285, | |
| -0.09249906800687313, | |
| -0.20738555490970612 | |
| ], | |
| "q99": [ | |
| 0.08173403143882751, | |
| 0.07760760560631752, | |
| 0.2038465365767479 | |
| ] | |
| }, | |
| "gripper": { | |
| "max": [ | |
| 1.0 | |
| ], | |
| "min": [ | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.5765894055366516 | |
| ], | |
| "std": [ | |
| 0.49409207701683044 | |
| ], | |
| "q01": [ | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 1.0 | |
| ] | |
| } | |
| } | |
| }, | |
| "modalities": { | |
| "video": { | |
| "image_0": { | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "channels": 3, | |
| "fps": 5.0 | |
| }, | |
| "image_1": { | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "channels": 3, | |
| "fps": 5.0 | |
| }, | |
| "image_2": { | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "channels": 3, | |
| "fps": 5.0 | |
| }, | |
| "image_3": { | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "channels": 3, | |
| "fps": 5.0 | |
| } | |
| }, | |
| "state": { | |
| "ee_pos": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "ee_rot": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "action": { | |
| "delta_ee_pos": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "delta_ee_rot": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| } | |
| } | |
| }, | |
| "embodiment_tag": "new_embodiment" | |
| } | |
| } |