{ "new_embodiment": { "state": { "single_arm": { "min": [ -29.010988235473633, -101.84615325927734, -25.846153259277344, -3.780219793319702, -30.63736343383789 ], "max": [ 39.120880126953125, 30.19780158996582, 96.26373291015625, 99.86813354492188, 33.71428680419922 ], "mean": [ 1.988936185836792, -38.90863800048828, 54.020042419433594, 49.90645980834961, -0.4925313889980316 ], "std": [ 13.722591400146484, 35.96825408935547, 31.793231964111328, 21.93545150756836, 9.928781509399414 ], "q01": [ -23.824174880981445, -101.31867980957031, -11.245714569091794, 0.35164836049079895, -21.318681716918945 ], "q99": [ 35.9560432434082, 13.05494499206543, 96.17582702636719, 87.38461303710938, 30.373626708984375 ] }, "gripper": { "min": [ 0.8867667317390442 ], "max": [ 28.376535415649414 ], "mean": [ 6.725670337677002 ], "std": [ 5.633188724517822 ], "q01": [ 0.9549795389175415 ], "q99": [ 21.759891510009766 ] } }, "action": { "single_arm": { "min": [ -29.318681716918945, -102.989013671875, -29.098901748657227, -4.175824165344238, -31.340660095214844 ], "max": [ 39.60439682006836, 29.758241653442383, 97.67032623291016, 100.35164642333984, 34.41758346557617 ], "mean": [ 2.0507652759552, -39.47334289550781, 52.88246536254883, 49.540916442871094, -0.48444971442222595 ], "std": [ 13.752706527709961, 35.919918060302734, 32.46714401245117, 21.90213966369629, 9.983773231506348 ], "q01": [ -24.043956756591797, -101.93406677246094, -13.953406238555905, 0.04395604506134987, -21.758241653442383 ], "q99": [ 36.01934097290033, 12.79120922088623, 97.23076629638672, 87.34066009521484, 30.373626708984375 ] }, "gripper": { "min": [ 0.0 ], "max": [ 29.505582809448242 ], "mean": [ 5.165055751800537 ], "std": [ 6.453084945678711 ], "q01": [ 0.6379585266113281 ], "q99": [ 22.408292770385742 ] } }, "relative_action": { "single_arm": { "min": [ [ -14.461539268493652, -31.20879364013672, -30.417583465576172, -23.164833068847656, -13.274724960327148 ], [ -14.98901081085205, -35.78022003173828, -34.4615364074707, -23.164833068847656, -15.648351669311523 ], [ -15.164835929870605, -40.087913513183594, -38.417579650878906, -24.21977996826172, -18.461538314819336 ], [ -15.69230842590332, -44.39560317993164, -42.109893798828125, -27.20879364013672, -21.098899841308594 ], [ -17.9780216217041, -48.52747344970703, -45.53845977783203, -30.02198028564453, -22.85714340209961 ], [ -19.560440063476562, -53.89011001586914, -48.43955993652344, -32.395599365234375, -25.05494499206543 ], [ -20.96703338623047, -59.9560432434082, -50.989013671875, -34.15384292602539, -27.516483306884766 ], [ -22.10988998413086, -64.17582702636719, -53.27472686767578, -36.879119873046875, -29.802196502685547 ], [ -23.076923370361328, -66.19779968261719, -56.43955993652344, -39.340660095214844, -31.47252655029297 ], [ -23.78022003173828, -68.13187408447266, -59.78022003173828, -41.71428680419922, -32.087913513183594 ], [ -24.571428298950195, -70.94506072998047, -62.94505310058594, -43.912086486816406, -32.61538314819336 ], [ -25.626375198364258, -73.84616088867188, -65.84615325927734, -46.5494499206543, -33.406593322753906 ], [ -26.417583465576172, -76.5714340209961, -68.13186645507812, -49.53845977783203, -34.81318664550781 ], [ -27.208789825439453, -79.20878601074219, -71.56044006347656, -51.5604362487793, -35.9560432434082 ], [ -27.824174880981445, -82.1098861694336, -74.81318664550781, -53.14285659790039, -36.83516311645508 ], [ -28.52747344970703, -85.010986328125, -77.97801971435547, -54.989009857177734, -37.89011001586914 ] ], "max": [ [ 9.89011001586914, 23.824172973632812, 36.57142639160156, 27.736263275146484, 13.714284896850586 ], [ 12.967033386230469, 27.868133544921875, 42.4615364074707, 30.10988998413086, 14.153846740722656 ], [ 15.95604419708252, 32.43955993652344, 47.912086486816406, 31.692306518554688, 17.406593322753906 ], [ 18.85714340209961, 36.57142639160156, 53.274723052978516, 34.32966995239258, 20.483516693115234 ], [ 21.406593322753906, 39.384613037109375, 58.5494499206543, 37.58241653442383, 23.560440063476562 ], [ 23.60439682006836, 42.02198028564453, 62.5054931640625, 39.9560432434082, 26.549449920654297 ], [ 25.538463592529297, 45.890106201171875, 65.84615325927734, 42.32966995239258, 29.538461685180664 ], [ 27.38461685180664, 49.75823974609375, 67.86812591552734, 43.912086486816406, 32.52747344970703 ], [ 28.703296661376953, 53.45054626464844, 71.47252655029297, 45.31867980957031, 35.42857360839844 ], [ 30.02198028564453, 56.9670295715332, 75.25274658203125, 46.4615364074707, 37.5384635925293 ], [ 31.60439682006836, 60.131866455078125, 79.38461303710938, 47.07692337036133, 39.29670333862305 ], [ 32.92307662963867, 63.03296661376953, 83.16483306884766, 47.9560432434082, 40.263736724853516 ], [ 33.978023529052734, 65.84615325927734, 87.29669952392578, 49.978023529052734, 41.14285659790039 ], [ 34.76923370361328, 68.4835205078125, 91.07691955566406, 52.17582321166992, 41.75823974609375 ], [ 36.087913513183594, 71.03296661376953, 94.4175796508789, 54.81318283081055, 41.75823974609375 ], [ 37.05494689941406, 73.4065933227539, 97.75823974609375, 57.27472686767578, 41.75823974609375 ] ], "mean": [ [ 0.05252271890640259, -0.44961366057395935, -1.3810067176818848, -0.5383102297782898, 0.005542324390262365 ], [ 0.05060017108917236, -0.4308803975582123, -1.4068167209625244, -0.593940258026123, 0.004673561081290245 ], [ 0.04949820041656494, -0.41805994510650635, -1.4250603914260864, -0.6486067175865173, 0.003708319505676627 ], [ 0.04928917437791824, -0.4097505807876587, -1.4366508722305298, -0.7017847895622253, 0.002847608644515276 ], [ 0.04973168298602104, -0.4044969081878662, -1.442812204360962, -0.7526053190231323, 0.0021236210595816374 ], [ 0.05041532218456268, -0.4011270999908447, -1.4456192255020142, -0.7994228005409241, 0.001351392944343388 ], [ 0.05106696859002113, -0.3986898362636566, -1.4464950561523438, -0.8404057025909424, 0.0006355035002343357 ], [ 0.0515415295958519, -0.3965660333633423, -1.4468375444412231, -0.8742049932479858, -8.84718174347654e-05 ], [ 0.05195971578359604, -0.39476478099823, -1.4468951225280762, -0.8984988927841187, -0.0007319324067793787 ], [ 0.052176933735609055, -0.3930343687534332, -1.4468693733215332, -0.9146161675453186, -0.0013030839618295431 ], [ 0.05216075852513313, -0.3915066123008728, -1.4468547105789185, -0.9235863089561462, -0.0018822313286364079 ], [ 0.052007805556058884, -0.39036324620246887, -1.4468398094177246, -0.9282782077789307, -0.002397017553448677 ], [ 0.05167792737483978, -0.3895268738269806, -1.4468237161636353, -0.9304037094116211, -0.0029279994778335094 ], [ 0.05130806565284729, -0.3888275623321533, -1.4468061923980713, -0.9320605993270874, -0.003442761255428195 ], [ 0.05096229910850525, -0.38813528418540955, -1.446787714958191, -0.9335735440254211, -0.003949629608541727 ], [ 0.05056795850396156, -0.38745182752609253, -1.4467723369598389, -0.93507981300354, -0.004440249875187874 ] ], "std": [ [ 1.4878755807876587, 5.839897632598877, 5.374911308288574, 3.176649332046509, 1.5652546882629395 ], [ 1.9109783172607422, 7.644970417022705, 6.917716026306152, 4.120389461517334, 1.981215238571167 ], [ 2.321254253387451, 9.430123329162598, 8.453091621398926, 5.043785095214844, 2.3793013095855713 ], [ 2.716085910797119, 11.187356948852539, 9.970100402832031, 5.940429210662842, 2.756856918334961 ], [ 3.093921422958374, 12.91049575805664, 11.461906433105469, 6.8076252937316895, 3.1135854721069336 ], [ 3.4536941051483154, 14.595410346984863, 12.921976089477539, 7.646265983581543, 3.4501616954803467 ], [ 3.7960422039031982, 16.23885726928711, 14.347005844116211, 8.458425521850586, 3.767953395843506 ], [ 4.122044086456299, 17.838661193847656, 15.734045028686523, 9.246739387512207, 4.068443298339844 ], [ 4.432971954345703, 19.39406967163086, 17.082509994506836, 10.015328407287598, 4.352938652038574 ], [ 4.72984504699707, 20.904521942138672, 18.392000198364258, 10.765315055847168, 4.622180938720703 ], [ 5.013516426086426, 22.37005615234375, 19.66269302368164, 11.497218132019043, 4.8769989013671875 ], [ 5.284946918487549, 23.79131317138672, 20.894948959350586, 12.208915710449219, 5.117739677429199 ], [ 5.544953346252441, 25.16900062561035, 22.08959197998047, 12.899317741394043, 5.345024108886719 ], [ 5.794323444366455, 26.503883361816406, 23.24732780456543, 13.566927909851074, 5.559260845184326 ], [ 6.033751964569092, 27.797048568725586, 24.36910057067871, 14.212467193603516, 5.760995864868164 ], [ 6.2639055252075195, 29.049880981445312, 25.455867767333984, 14.83670711517334, 5.951050758361816 ] ], "q01": [ [ -4.4395599365234375, -15.64834976196289, -14.241758346557617, -10.392964935302734, -5.362637042999268 ], [ -5.846153736114502, -20.370985717773436, -17.934066772460938, -13.381978607177734, -6.857142791748047 ], [ -7.076923370361328, -24.96703338623047, -21.538461685180664, -16.483516693115234, -8.239120788574219 ], [ -8.458901443481444, -29.51384506225586, -25.23076629638672, -19.359998321533205, -9.318680763244629 ], [ -9.626373291015625, -33.934065704345706, -28.659341278076173, -21.934066772460938, -10.349011192321777 ], [ -10.681318969726563, -38.24176025390625, -31.912086486816406, -24.219778900146483, -11.491868057250976 ], [ -12.151208915710448, -42.54945373535156, -35.05230651855469, -26.24176025390625, -12.546813049316405 ], [ -13.406594009399415, -46.80791015625, -38.15384948730469, -28.18989044189453, -13.538462371826173 ], [ -14.197803230285645, -50.637359619140625, -40.70329559326172, -30.26109848022461, -14.217143096923827 ], [ -15.316043891906737, -54.5054931640625, -43.340660095214844, -32.107252807617186, -15.09626350402832 ], [ -16.19516471862793, -58.17318603515625, -45.77758346557617, -33.7775845336914, -15.799560585021972 ], [ -17.01098960876465, -61.53846633911133, -47.99999893188477, -35.359999389648436, -16.52747344970703 ], [ -17.86549476623535, -64.96703338623047, -49.73362609863281, -36.829890441894534, -17.118240814208985 ], [ -18.74461654663086, -67.86813354492188, -51.78022003173828, -38.021975402832034, -17.670330047607422 ], [ -19.4479118347168, -70.8325259399414, -53.689669342041014, -39.115603637695315, -18.0219783782959 ], [ -19.975384216308594, -73.4698876953125, -55.20878875732422, -40.395605926513674, -18.197802963256837 ] ], "q99": [ [ 4.9424173164367105, 12.395605087280273, 14.832527618408145, 9.274726333618164, 6.065934181213379 ], [ 6.373626098632813, 16.439558868408202, 19.692310333251953, 12.414945220947208, 7.824175567626953 ], [ 7.6043965530395505, 20.307693481445312, 24.76659164428705, 15.316043472289982, 9.318681449890137 ], [ 9.010988235473633, 24.0, 29.689670715331975, 18.065935974121093, 10.876483001708927 ], [ 10.329669952392578, 27.60439682006836, 34.524837951660096, 20.61538314819336, 11.868132591247559 ], [ 11.359999694824161, 31.208793106079103, 39.032969360351565, 23.11560638427723, 13.074285278320255 ], [ 12.439559936523438, 34.72527313232422, 43.81890029907215, 25.601759414672795, 13.802198143005372 ], [ 13.46988967895502, 37.80219924926758, 47.79956100463861, 28.351648330688477, 14.593406677246094 ], [ 14.261098899841251, 41.29406616210932, 51.73099060058582, 30.412306442260626, 15.184175949096621 ], [ 15.25274658203125, 44.395605926513674, 55.71164855957026, 32.722637634277284, 15.736263275146484 ], [ 16.04395622253418, 47.62373504638666, 59.755604248046815, 34.56879196166987, 16.52747344970703 ], [ 16.810548400878847, 50.261098480224554, 63.71164581298822, 36.17582321166992, 17.445274429321174 ], [ 17.865494766235294, 52.98637161254877, 67.29142852783191, 37.73362503051752, 18.197802963256837 ], [ 18.769229888916016, 55.56043899536133, 70.41758514404297, 39.31604431152338, 18.612747650146428 ], [ 19.736263275146484, 58.373626708984375, 73.38197204589838, 40.1072517395019, 18.876483001708927 ], [ 20.703296127319337, 60.48351943969727, 75.86813354492188, 41.689668273925726, 19.25274658203125 ] ] } } } }