| { |
| "checksum": "sha256:7ed914a29364337e6447c38c5d3f33b83a91be76305c6e5e9d7a1cfff4de0c8a", |
| "embodiments": { |
| "arx_x5_joint": { |
| "action_fields": [ |
| { |
| "absolute": true, |
| "key": "action.left_joint", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "q01": [ |
| -1.0598258972167969, |
| -3.902658225881858e-14, |
| 1.6998464973269173e-16, |
| -1.5960026323795318, |
| -0.6257269263267518, |
| -1.700571984052658 |
| ], |
| "q99": [ |
| 0.5585477441549314, |
| 2.4960994601249697, |
| 2.4790066123008736, |
| 1.3564059138298044, |
| 1.259921205043793, |
| 1.8167996704578468 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.left_gripper", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.right_joint", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "q01": [ |
| -0.4635132268071175, |
| -2.9417339061661024e-14, |
| 1.1046370408613614e-16, |
| -1.6399913251399993, |
| -1.2680554866790772, |
| -1.8635219275951387 |
| ], |
| "q99": [ |
| 1.0895832717418674, |
| 2.4163509488105785, |
| 2.3399798631668105, |
| 1.182499951124194, |
| 0.5231710970401775, |
| 1.51210089325905 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "action.right_gripper", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| } |
| ], |
| "embodiment_id": 0, |
| "max_action_dim": 32, |
| "max_state_dim": 64, |
| "state_fields": [ |
| { |
| "absolute": true, |
| "key": "state.left_joint", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "q01": [ |
| -1.0605243921279908, |
| -3.8907946824226144e-14, |
| 1.4396729160394704e-16, |
| -1.5957347691059112, |
| -0.6252558380365372, |
| -1.6990642905235291 |
| ], |
| "q99": [ |
| 0.5593438178300864, |
| 2.4961611986160284, |
| 2.478646636009227, |
| 1.3560618221759813, |
| 1.2596090197563177, |
| 1.8167996704578468 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.left_gripper", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.right_joint", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 6, |
| "statistics": { |
| "q01": [ |
| -0.46172704696655276, |
| -2.9417339061661024e-14, |
| 1.091948914136688e-16, |
| -1.6384887874126435, |
| -1.2661304712295531, |
| -1.8515660762786865 |
| ], |
| "q99": [ |
| 1.0899051189422617, |
| 2.4166500568389893, |
| 2.33964514732361, |
| 1.183580100536349, |
| 0.5229878336191177, |
| 1.5128222763538364 |
| ] |
| } |
| }, |
| { |
| "absolute": true, |
| "key": "state.right_gripper", |
| "normalization": "q99", |
| "per_horizon_statistics": null, |
| "size": 1, |
| "statistics": { |
| "q01": [ |
| 0.0 |
| ], |
| "q99": [ |
| 1.0 |
| ] |
| } |
| } |
| ] |
| } |
| }, |
| "image": { |
| "model_input_range": "uint8", |
| "raw_range": "uint8" |
| }, |
| "provenance": { |
| "action_space": "robodojo_joint_14d", |
| "normalization": "q99", |
| "relative_joint_action": false, |
| "source": "robodojo-joint-posttraining", |
| "statistics_location": "Embedded in this transform_bundle.json; no external statistics file required." |
| }, |
| "schema_version": "1" |
| } |
|
|
