| { | |
| "new_embodiment": { | |
| "statistics": { | |
| "state": { | |
| "single_arm": { | |
| "max": [ | |
| 15.46875, | |
| 184.833984375, | |
| 173.232421875, | |
| 99.66796875, | |
| 39.287109375 | |
| ], | |
| "min": [ | |
| -44.47265625, | |
| 41.8359375, | |
| 64.6875, | |
| 14.677734375, | |
| -62.05078125 | |
| ], | |
| "mean": [ | |
| -13.215864181518555, | |
| 144.05787658691406, | |
| 139.86282348632812, | |
| 49.2176628112793, | |
| -10.228619575500488 | |
| ], | |
| "std": [ | |
| 8.751354217529297, | |
| 38.16702651977539, | |
| 25.95577621459961, | |
| 15.805895805358887, | |
| 11.931200981140137 | |
| ], | |
| "q01": [ | |
| -37.177734375, | |
| 50.9765625, | |
| 76.5017578125, | |
| 19.51171875, | |
| -51.444140624999996 | |
| ], | |
| "q99": [ | |
| 5.712890625, | |
| 184.74609375, | |
| 173.14453125, | |
| 84.6896484375, | |
| 23.5546875 | |
| ] | |
| }, | |
| "gripper": { | |
| "max": [ | |
| 40.70148849487305 | |
| ], | |
| "min": [ | |
| 0.32803431153297424 | |
| ], | |
| "mean": [ | |
| 8.176284790039062 | |
| ], | |
| "std": [ | |
| 9.740017890930176 | |
| ], | |
| "q01": [ | |
| 0.35326772928237915 | |
| ], | |
| "q99": [ | |
| 38.70804977416992 | |
| ] | |
| }, | |
| "mobile_base": { | |
| "max": [ | |
| 107.37865447998047, | |
| 108.49141693115234, | |
| 31.640625 | |
| ], | |
| "min": [ | |
| -107.37865447998047, | |
| -108.49141693115234, | |
| -33.3984375 | |
| ], | |
| "mean": [ | |
| 0.05257227644324303, | |
| 2.0943121910095215, | |
| 0.002787814475595951 | |
| ], | |
| "std": [ | |
| 18.209583282470703, | |
| 65.37738800048828, | |
| 2.23721981048584 | |
| ], | |
| "q01": [ | |
| -94.5954818725586, | |
| -101.84908294677734, | |
| -2.9296875 | |
| ], | |
| "q99": [ | |
| 94.5954818725586, | |
| 101.84908294677734, | |
| 2.9296875 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "single_arm": { | |
| "max": [ | |
| 15.908203125, | |
| 191.337890625, | |
| 179.296875, | |
| 105.1171875, | |
| 40.95703125 | |
| ], | |
| "min": [ | |
| -46.0546875, | |
| 40.78125, | |
| 60.99609375, | |
| 13.798828125, | |
| -63.720703125 | |
| ], | |
| "mean": [ | |
| -13.723758697509766, | |
| 146.34957885742188, | |
| 138.58432006835938, | |
| 48.544857025146484, | |
| -10.57165813446045 | |
| ], | |
| "std": [ | |
| 8.965170860290527, | |
| 38.63556671142578, | |
| 27.916168212890625, | |
| 16.33232879638672, | |
| 12.156540870666504 | |
| ], | |
| "q01": [ | |
| -38.759765625, | |
| 53.26171875, | |
| 72.861328125, | |
| 18.544921875, | |
| -52.63769531249999 | |
| ], | |
| "q99": [ | |
| 7.20703125, | |
| 190.810546875, | |
| 178.154296875, | |
| 85.78125, | |
| 23.642578125 | |
| ] | |
| }, | |
| "gripper": { | |
| "max": [ | |
| 41.82572555541992 | |
| ], | |
| "min": [ | |
| -1.6597511768341064 | |
| ], | |
| "mean": [ | |
| 6.957508563995361 | |
| ], | |
| "std": [ | |
| 10.569114685058594 | |
| ], | |
| "q01": [ | |
| 0.16597510874271393 | |
| ], | |
| "q99": [ | |
| 39.5020751953125 | |
| ] | |
| }, | |
| "mobile_base": { | |
| "max": [ | |
| 100.01554870605469, | |
| 99.9892349243164, | |
| 29.98828125 | |
| ], | |
| "min": [ | |
| -100.01554870605469, | |
| -99.9892349243164, | |
| -29.98828125 | |
| ], | |
| "mean": [ | |
| 0.026074575260281563, | |
| 2.2678799629211426, | |
| 0.003909050486981869 | |
| ], | |
| "std": [ | |
| 19.81121253967285, | |
| 67.77686309814453, | |
| 2.1381704807281494 | |
| ], | |
| "q01": [ | |
| -100.01554870605469, | |
| -99.9892349243164, | |
| -2.9607608919635705e-15 | |
| ], | |
| "q99": [ | |
| 100.01554870605469, | |
| 99.9892349243164, | |
| 2.2187634183005924e-15 | |
| ] | |
| } | |
| } | |
| }, | |
| "modalities": { | |
| "video": { | |
| "wrist": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| }, | |
| "front": { | |
| "resolution": [ | |
| 640, | |
| 480 | |
| ], | |
| "channels": 3, | |
| "fps": 30.0 | |
| } | |
| }, | |
| "state": { | |
| "single_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| }, | |
| "mobile_base": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "action": { | |
| "single_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 5 | |
| ], | |
| "continuous": true | |
| }, | |
| "gripper": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 1 | |
| ], | |
| "continuous": true | |
| }, | |
| "mobile_base": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| } | |
| } | |
| }, | |
| "embodiment_tag": "new_embodiment" | |
| } | |
| } |