{ "format": "arlo_ee_chunk_normalizer", "version": 1, "horizon": 16, "action_dim": 10, "action_names": [ "dx", "dy", "dz", "r11", "r21", "r31", "r12", "r22", "r32", "gripper" ], "low_quantile": 2.0, "high_quantile": 98.0, "clip": 1.5, "normalize_mask": [ true, true, true, false, false, false, false, false, false, true ], "lower": [ [ -0.024444810897111893, -0.01642351008951664, -0.010296278782188893, 0.9987268447875977, -0.0284233395755291, -0.011726648658514022, -0.04845159336924553, 0.9984549188613892, -0.022800914719700815, 0.009200000204145908 ], [ -0.02743392191827297, -0.021373526751995088, -0.010150834918022156, 0.9981020736694336, -0.039207005202770234, -0.018957888185977937, -0.0580375599861145, 0.9976729464530945, -0.028401710018515585, 0.009200000204145908 ], [ -0.03062878496944904, -0.026416850835084917, -0.010425292178988457, 0.9971501350402832, -0.05092871785163879, -0.025939201265573503, -0.06946138978004456, 0.9965934205055237, -0.034414082169532775, 0.009232041016221047 ], [ -0.03491247743368149, -0.03154816925525665, -0.011045435965061188, 0.995889892578125, -0.06366290420293808, -0.03279340013861656, -0.08144109547138215, 0.9951708722114563, -0.040324365943670275, 0.009298344478011132 ], [ -0.03937850371003151, -0.03673013687133789, -0.011853544935584069, 0.9943005180358887, -0.0763472419977188, -0.03993380650877953, -0.09376074314117432, 0.9934051442146301, -0.046465684324502946, 0.00930000003427267 ], [ -0.04411055400967598, -0.04194987416267395, -0.012807435393333434, 0.9923865008354187, -0.08920819371938705, -0.04731627389788628, -0.10632128238677979, 0.9913354659080506, -0.05289328202605247, 0.00930000003427267 ], [ -0.04893591821193695, -0.04707971721887588, -0.013808087408542632, 0.9901912927627563, -0.10198380678892136, -0.05460065186023712, -0.11954828351736069, 0.9889721751213074, -0.05927196070551872, 0.00930000003427267 ], [ -0.05390897110104561, -0.05240622460842133, -0.01484068538993597, 0.9876723194122314, -0.11483742415904999, -0.061712472438812255, -0.13245466768741607, 0.9863366842269897, -0.06565142095088959, 0.00930000003427267 ], [ -0.05905166149139404, -0.05763950183987617, -0.015968028903007508, 0.9849217128753662, -0.12775433242321013, -0.06854423493146897, -0.14551030457019806, 0.9834913301467896, -0.07184195935726166, 0.00930000003427267 ], [ -0.06408583909273148, -0.06274200022220612, -0.017144066169857978, 0.981873025894165, -0.1408752679824829, -0.07558071464300156, -0.15812897205352783, 0.9803338718414306, -0.07817395985126495, 0.00930000003427267 ], [ -0.06927673488855363, -0.06788210332393646, -0.018329490199685095, 0.9785990452766419, -0.15332415103912353, -0.0823714092373848, -0.17108676552772523, 0.9769418382644653, -0.08446857839822769, 0.00930000003427267 ], [ -0.07424080163240433, -0.07285579711198807, -0.019470847323536874, 0.9750262951850891, -0.16593630611896515, -0.08894851744174957, -0.1834260195493698, 0.9733033037185669, -0.09067968159914017, 0.00930000003427267 ], [ -0.0793745094537735, -0.07784122854471207, -0.02069540575146675, 0.9713544821739197, -0.17825430691242217, -0.0953048476576805, -0.19613779485225677, 0.9694923305511475, -0.09683394521474838, 0.009381431192159654 ], [ -0.08439921408891678, -0.08269085049629211, -0.022031118720769884, 0.9673717975616455, -0.19063061773777007, -0.10202596098184585, -0.20849753499031068, 0.9653642988204956, -0.10262246251106262, 0.009457124322652817 ], [ -0.08928024232387542, -0.08765452653169632, -0.0232819801568985, 0.9632222461700439, -0.2025566428899765, -0.10834227383136749, -0.220757640004158, 0.9610658931732178, -0.10839987635612487, 0.009549635015428068 ], [ -0.09443040519952774, -0.09248321264982223, -0.02449563257396221, 0.9588435888290405, -0.2145788025856018, -0.11470396995544434, -0.23224182128906248, 0.9566185092926025, -0.11425131231546402, 0.00970460742712021 ] ], "upper": [ [ 0.011537947133183494, 0.018648369535803802, 0.011060719005763534, 0.9999997615814209, 0.048446760773658754, 0.013508790321648123, 0.02842205651104452, 0.9999991059303284, 0.04236888676881791, 0.05990000069141388 ], [ 0.015285844132304223, 0.023180673643946652, 0.011499756462872032, 0.9999997615814209, 0.058034307360649115, 0.020431933328509337, 0.03918714463710786, 0.9999991655349731, 0.050777677893638615, 0.05990000069141388 ], [ 0.01960502028465272, 0.028032446131110195, 0.012136868163943292, 0.9999997615814209, 0.0695092123746872, 0.027741366475820553, 0.05095523342490197, 0.9999993443489075, 0.05983833551406861, 0.05990000069141388 ], [ 0.024222732335329056, 0.0329832847416401, 0.012775989919900895, 0.9999998211860657, 0.08146982103586198, 0.035376369357109076, 0.0635179877281189, 0.9999995231628418, 0.06913738757371904, 0.05990000069141388 ], [ 0.028944346457719802, 0.037954941987991334, 0.013533892370760442, 0.9999998211860657, 0.09378956794738773, 0.04308062925934792, 0.07617762953042985, 0.9999995827674866, 0.07868605732917788, 0.05990000069141388 ], [ 0.03357958972454074, 0.043040560930967336, 0.014282394088804724, 0.9999997615814209, 0.10647956699132922, 0.05093743935227397, 0.08887743771076209, 0.9999993443489075, 0.08798951029777535, 0.05990000069141388 ], [ 0.03838126078248024, 0.04813244968652727, 0.015122346654534342, 0.9999997019767761, 0.11977009534835815, 0.05867022708058358, 0.10167163968086243, 0.9999992251396179, 0.09717211186885837, 0.05990000069141388 ], [ 0.04312808573246004, 0.053255985975265534, 0.0160349614918232, 0.9999997019767761, 0.13268003880977633, 0.0660722813010216, 0.11462023705244065, 0.9999991059303284, 0.10639829874038696, 0.05990000069141388 ], [ 0.047909747809171684, 0.05829363286495209, 0.01709894806146622, 0.9999997019767761, 0.1458582609891892, 0.07357259154319766, 0.12756964325904846, 0.9999990463256836, 0.11528868585824972, 0.05990000069141388 ], [ 0.05282899856567384, 0.06328006356954578, 0.018277817592024806, 0.9999996423721313, 0.1583943539857865, 0.08083012998104097, 0.14057533144950868, 0.999998927116394, 0.12399568766355518, 0.05990000069141388 ], [ 0.05772904351353647, 0.06832738846540452, 0.019490463808178902, 0.9999996423721313, 0.17141795337200166, 0.08805681079626083, 0.153092224597931, 0.999998927116394, 0.13221203505992898, 0.05990000069141388 ], [ 0.06265835046768188, 0.07321807831525806, 0.020859273821115496, 0.9999996423721313, 0.18387548983097082, 0.0952649384737015, 0.1654428291320801, 0.9999988079071045, 0.1399021130800248, 0.05990000069141388 ], [ 0.06759990632534033, 0.0781555885076523, 0.02222604729235173, 0.9999995827674866, 0.19638245582580569, 0.10204528391361245, 0.17796233952045445, 0.9999987483024597, 0.14820756793022155, 0.05990000069141388 ], [ 0.07236474543809893, 0.08313941389322287, 0.023626757338643077, 0.9999995827674866, 0.2087594020366669, 0.1089255651831627, 0.19026584208011646, 0.9999987483024597, 0.1559708666801453, 0.05990000069141388 ], [ 0.07719569206237793, 0.08793089002370837, 0.025038492903113375, 0.9999995827674866, 0.22096574902534485, 0.11547143578529358, 0.20211543798446668, 0.9999986886978149, 0.16376398086547853, 0.05990000069141388 ], [ 0.08215454012155537, 0.09271910965442663, 0.026449459046125418, 0.9999995827674866, 0.2328858262300492, 0.1216487866640091, 0.21391082823276555, 0.9999985694885254, 0.1709399461746216, 0.05990000069141388 ] ], "meta": { "source_dataset": "datasets/lerobot/3tasks_combined", "anchor_scheme": "B", "anchor_stream": "meas", "target_stream": "cmd", "horizon": 16, "stride": 1, "include_current": false, "chunk_offsets": [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16 ], "fps": 30.0, "control_period_s": 0.03333333333333333, "action_dim": 10, "obs_dim": 19, "urdf": "/mnt/extra/rosetta_arlo/rosetta_ws/src/arm-assistant-central-app/src/arlo_description/urdf/arlo.xacro", "tip_link": "gripper_connector_1", "tcp_offset": [ 0.0, 0.0, 0.0 ], "motion_filter": { "lin_thresh_mps": 0.005, "ang_thresh_per_s": 0.05, "grip_thresh_mps": 0.002, "smooth_frames": 7, "moving_fraction": 0.8609408385582682 } } }