| { | |
| "new_embodiment": { | |
| "statistics": { | |
| "state": { | |
| "left_arm": { | |
| "max": [ | |
| 95.09536743164062, | |
| 83.27091217041016, | |
| 100.0, | |
| 100.0, | |
| 99.32415008544922 | |
| ], | |
| "min": [ | |
| -55.839820861816406, | |
| -100.0, | |
| -98.37606811523438, | |
| 1.2027491331100464, | |
| -44.68416976928711 | |
| ], | |
| "mean": [ | |
| 22.159082505954693, | |
| -36.1522865844335, | |
| 38.110837989207816, | |
| 67.59448525514152, | |
| 3.4253542602952947 | |
| ], | |
| "std": [ | |
| 25.716990628812276, | |
| 47.698537858795426, | |
| 46.19350431771322, | |
| 19.1841209477407, | |
| 6.8097502388992615 | |
| ], | |
| "q01": [ | |
| -12.002842900445998, | |
| -99.43286145634731, | |
| -52.656071342898684, | |
| 25.23272637526786, | |
| -5.732454395524938 | |
| ], | |
| "q99": [ | |
| 69.51329636367103, | |
| 48.929294089234084, | |
| 98.55713962476287, | |
| 95.4776345731188, | |
| 15.56874376041509 | |
| ] | |
| }, | |
| "left_gripper": { | |
| "max": [ | |
| 64.16666412353516 | |
| ], | |
| "min": [ | |
| 0.8333333134651184 | |
| ], | |
| "mean": [ | |
| 13.689288553762635 | |
| ], | |
| "std": [ | |
| 12.984300951913312 | |
| ], | |
| "q01": [ | |
| 1.5826803881258833 | |
| ], | |
| "q99": [ | |
| 42.40724866789503 | |
| ] | |
| }, | |
| "right_arm": { | |
| "max": [ | |
| 43.771827697753906, | |
| 100.0, | |
| 100.0, | |
| 99.57319641113281, | |
| 48.945037841796875 | |
| ], | |
| "min": [ | |
| -88.61972045898438, | |
| -100.0, | |
| -99.28121948242188, | |
| -22.321809768676758, | |
| -36.29939651489258 | |
| ], | |
| "mean": [ | |
| -11.67856744467494, | |
| -27.4429899886685, | |
| 28.373878773228622, | |
| 76.41580615328233, | |
| 4.1577284065544955 | |
| ], | |
| "std": [ | |
| 27.48116988702998, | |
| 50.246549138232034, | |
| 50.428660409743784, | |
| 20.372480781249013, | |
| 7.417763186003502 | |
| ], | |
| "q01": [ | |
| -63.34283040685163, | |
| -99.65360342652822, | |
| -53.90581389345294, | |
| 38.0710301283186, | |
| -7.54200355355562 | |
| ], | |
| "q99": [ | |
| 22.858352383463803, | |
| 47.312231534870655, | |
| 99.20298660571919, | |
| 97.11130862243914, | |
| 16.009986043500536 | |
| ] | |
| }, | |
| "right_gripper": { | |
| "max": [ | |
| 60.18067932128906 | |
| ], | |
| "min": [ | |
| 0.47297295928001404 | |
| ], | |
| "mean": [ | |
| 15.0308968130323 | |
| ], | |
| "std": [ | |
| 12.944993422715605 | |
| ], | |
| "q01": [ | |
| 1.1132611453090515 | |
| ], | |
| "q99": [ | |
| 40.36817944594688 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "max": [ | |
| 95.11292266845703, | |
| 83.48008728027344, | |
| 100.0, | |
| 100.0, | |
| 99.7901382446289 | |
| ], | |
| "min": [ | |
| -59.876922607421875, | |
| -100.0, | |
| -99.20844268798828, | |
| 0.9055627584457397, | |
| -45.068206787109375 | |
| ], | |
| "mean": [ | |
| 22.28279387487105, | |
| -37.873241275764556, | |
| 36.35136246987811, | |
| 67.46190909381968, | |
| 3.4606613264174837 | |
| ], | |
| "std": [ | |
| 25.73276263621616, | |
| 46.3602547836817, | |
| 46.991273477061156, | |
| 19.487802396685474, | |
| 6.816464369724153 | |
| ], | |
| "q01": [ | |
| -12.023950153302826, | |
| -99.52489027062533, | |
| -55.16293811446299, | |
| 24.360247713540204, | |
| -5.789599367663552 | |
| ], | |
| "q99": [ | |
| 69.71304509923148, | |
| 46.8898585382468, | |
| 98.96163892620517, | |
| 95.75905762129268, | |
| 15.64590279202312 | |
| ] | |
| }, | |
| "left_gripper": { | |
| "max": [ | |
| 64.88095092773438 | |
| ], | |
| "min": [ | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 12.387821083805033 | |
| ], | |
| "std": [ | |
| 14.105989284781801 | |
| ], | |
| "q01": [ | |
| 0.6867846786860053 | |
| ], | |
| "q99": [ | |
| 42.865011836182404 | |
| ] | |
| }, | |
| "right_arm": { | |
| "max": [ | |
| 43.94752502441406, | |
| 100.0, | |
| 100.0, | |
| 100.0, | |
| 49.066036224365234 | |
| ], | |
| "min": [ | |
| -88.1812973022461, | |
| -100.0, | |
| -99.82110595703125, | |
| -22.641510009765625, | |
| -36.32310485839844 | |
| ], | |
| "mean": [ | |
| -11.571535549452912, | |
| -29.573800742848473, | |
| 26.32569949873592, | |
| 76.4456978336207, | |
| 4.198700937075703 | |
| ], | |
| "std": [ | |
| 27.546868517767308, | |
| 48.91467407896806, | |
| 51.189359786111034, | |
| 20.74346295925323, | |
| 7.4243332666729085 | |
| ], | |
| "q01": [ | |
| -63.39823076319857, | |
| -99.89433600217218, | |
| -57.04760030889267, | |
| 37.37837890082765, | |
| -7.541886147434907 | |
| ], | |
| "q99": [ | |
| 23.038255638783205, | |
| 45.9272852524054, | |
| 99.5496477035711, | |
| 97.82369947320387, | |
| 16.083525047556254 | |
| ] | |
| }, | |
| "right_gripper": { | |
| "max": [ | |
| 61.71564865112305 | |
| ], | |
| "min": [ | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 12.529417928774118 | |
| ], | |
| "std": [ | |
| 14.318071919612695 | |
| ], | |
| "q01": [ | |
| 0.6170909220211473 | |
| ], | |
| "q99": [ | |
| 40.59343580611316 | |
| ] | |
| } | |
| } | |
| }, | |
| "modalities": { | |
| "video": { | |
| "left": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| }, | |
| "right": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| }, | |
| "top": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| }, | |
| "front": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| } | |
| }, | |
| "state": { | |
| "left_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| } | |
| } | |
| }, | |
| "embodiment_tag": "new_embodiment" | |
| } | |
| } |