File size: 11,744 Bytes
6de5199
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
{
    "new_embodiment": {
        "statistics": {
            "state": {
                "arm": {
                    "max": [
                        0.6763513088226318,
                        0.6893939971923828,
                        -0.0877993106842041,
                        4.3382720947265625,
                        2.7740566730499268,
                        -0.1420849710702896
                    ],
                    "min": [
                        -0.47325417399406433,
                        -0.2914295196533203,
                        -1.069740653038025,
                        2.074643850326538,
                        0.6739141941070557,
                        -2.3055596351623535
                    ],
                    "mean": [
                        0.15466345846652985,
                        0.2192830741405487,
                        -0.6086273789405823,
                        3.4800446033477783,
                        1.4899146556854248,
                        -1.4712268114089966
                    ],
                    "std": [
                        0.27233970165252686,
                        0.14214637875556946,
                        0.15391211211681366,
                        0.6489962339401245,
                        0.35528743267059326,
                        0.5927923321723938
                    ],
                    "q01": [
                        -0.3898653772473335,
                        -0.1347692294418812,
                        -0.9783424466848374,
                        2.197617812156677,
                        0.9597249197959901,
                        -2.234493260383606
                    ],
                    "q99": [
                        0.6160758912563324,
                        0.5559739029407502,
                        -0.205783983618021,
                        4.294230289459229,
                        2.5004161167144776,
                        -0.32773582190275186
                    ]
                },
                "hand": {
                    "max": [
                        0.8579000234603882,
                        0.1979999989271164,
                        0.7728000283241272,
                        1.214400053024292,
                        1.051200032234192,
                        1.3503999710083008
                    ],
                    "min": [
                        0.018400000408291817,
                        0.0,
                        0.0031999999191612005,
                        0.04800000041723251,
                        0.07999999821186066,
                        0.10719999670982361
                    ],
                    "mean": [
                        0.43089383840560913,
                        0.07304154336452484,
                        0.4634644687175751,
                        0.7741838097572327,
                        0.6567564010620117,
                        0.8714749217033386
                    ],
                    "std": [
                        0.1932171881198883,
                        0.0554494746029377,
                        0.1824437826871872,
                        0.31609708070755005,
                        0.2730455696582794,
                        0.31046125292778015
                    ],
                    "q01": [
                        0.05404999852180481,
                        0.0,
                        0.09279999881982803,
                        0.1632000058889389,
                        0.14239999651908875,
                        0.24320000410079956
                    ],
                    "q99": [
                        0.7889000177383423,
                        0.17489999532699585,
                        0.7504000067710876,
                        1.193600058555603,
                        1.0368000268936157,
                        1.3056000471115112
                    ]
                }
            },
            "action": {
                "arm_command": {
                    "max": [
                        0.6770374178886414,
                        0.6912885308265686,
                        -0.08730362355709076,
                        4.339597225189209,
                        2.7740843296051025,
                        -0.14008556306362152
                    ],
                    "min": [
                        -0.4735149145126343,
                        -0.2918848395347595,
                        -1.069838523864746,
                        2.0741829872131348,
                        0.6716421246528625,
                        -2.306309700012207
                    ],
                    "mean": [
                        0.1540984958410263,
                        0.22001376748085022,
                        -0.6097897291183472,
                        3.4817142486572266,
                        1.4853993654251099,
                        -1.4707388877868652
                    ],
                    "std": [
                        0.2729141414165497,
                        0.14201974868774414,
                        0.15253517031669617,
                        0.6498361825942993,
                        0.35011330246925354,
                        0.593614399433136
                    ],
                    "q01": [
                        -0.3908489841222763,
                        -0.13489034309983253,
                        -0.9785512983798981,
                        2.197674207687378,
                        0.959052562713623,
                        -2.234276032447815
                    ],
                    "q99": [
                        0.6163421750068665,
                        0.5558456683158874,
                        -0.2094825533032417,
                        4.294376282691956,
                        2.4981018042564394,
                        -0.3277156260609626
                    ]
                },
                "hand_command": {
                    "max": [
                        0.8414626121520996,
                        0.19905410706996918,
                        0.786115825176239,
                        1.2115962505340576,
                        1.0483771562576294,
                        1.3459727764129639
                    ],
                    "min": [
                        0.0,
                        0.0,
                        0.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    "mean": [
                        0.4183080196380615,
                        0.07389666140079498,
                        0.46399128437042236,
                        0.7784941792488098,
                        0.6571611762046814,
                        0.8727790117263794
                    ],
                    "std": [
                        0.1929958313703537,
                        0.0566229410469532,
                        0.1863671988248825,
                        0.31635305285453796,
                        0.2727443277835846,
                        0.3094952404499054
                    ],
                    "q01": [
                        0.03656195782124996,
                        0.0,
                        0.08263584591448307,
                        0.15503984987735747,
                        0.13471959829330443,
                        0.23140670448541642
                    ],
                    "q99": [
                        0.7728603118658067,
                        0.17927273094654084,
                        0.7573054277896883,
                        1.1907255494594573,
                        1.0344085836410524,
                        1.301950888633728
                    ]
                }
            },
            "tactile": {},
            "rlforce": {},
            "torque": {
                "arm": {
                    "max": [
                        9.9524507522583,
                        2.4798965454101562,
                        5.696957111358643,
                        7.403754711151123,
                        9.857837677001953,
                        4.433938980102539
                    ],
                    "min": [
                        -12.326678276062012,
                        -40.820674896240234,
                        -26.124317169189453,
                        -7.615936756134033,
                        -9.475531578063965,
                        -5.52708101272583
                    ],
                    "mean": [
                        -0.17819209396839142,
                        -20.306840896606445,
                        -11.069125175476074,
                        -0.24145638942718506,
                        2.065887212753296,
                        -0.25324684381484985
                    ],
                    "std": [
                        1.3356064558029175,
                        4.4613189697265625,
                        3.396172523498535,
                        1.6281789541244507,
                        1.8543843030929565,
                        0.8412618637084961
                    ],
                    "q01": [
                        -4.060260753631591,
                        -29.917979316711424,
                        -16.913370876312257,
                        -3.16723219871521,
                        -5.3003393650054935,
                        -3.7937365436553954
                    ],
                    "q99": [
                        2.294244070053105,
                        -5.559258890151959,
                        -0.03744592759757113,
                        4.858680467605637,
                        7.5991743946075445,
                        3.365271377563478
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "camera_01": {
                    "resolution": [
                        224,
                        224
                    ],
                    "channels": 3,
                    "fps": 20.0
                },
                "camera_02": {
                    "resolution": [
                        224,
                        224
                    ],
                    "channels": 3,
                    "fps": 20.0
                }
            },
            "state": {
                "arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                },
                "hand": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                }
            },
            "action": {
                "arm_command": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                },
                "hand_command": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                }
            },
            "tactile": {},
            "rlforce": {},
            "torque": {
                "arm": {
                    "shape": [
                        6
                    ],
                    "continuous": true
                }
            }
        },
        "embodiment_tag": "new_embodiment"
    }
}