{ | |
"new_embodiment": { | |
"statistics": { | |
"state": { | |
"single_arm": { | |
"max": [ | |
0.7794525623321533, | |
1.0694457292556763, | |
1.5604394674301147, | |
1.9394252300262451, | |
1.2351560592651367 | |
], | |
"min": [ | |
-0.6797194480895996, | |
-1.7936614751815796, | |
-0.5247495174407959, | |
-1.3517670631408691, | |
-0.4787188768386841 | |
], | |
"mean": [ | |
0.05693788453936577, | |
-0.8199667930603027, | |
0.8659398555755615, | |
0.7469967007637024, | |
0.087093785405159 | |
], | |
"std": [ | |
0.26653364300727844, | |
0.8314335346221924, | |
0.6136879920959473, | |
0.6959660053253174, | |
0.20764431357383728 | |
], | |
"q01": [ | |
-0.6222118043899536, | |
-1.778317928314209, | |
-0.33909255266189575, | |
-0.9981288814544678, | |
-0.22788245797157286 | |
], | |
"q99": [ | |
0.5685093617439276, | |
0.8055365681648254, | |
1.5589051246643066, | |
1.9210129976272583, | |
1.0709800720214844 | |
] | |
}, | |
"gripper": { | |
"max": [ | |
1.4024008512496948 | |
], | |
"min": [ | |
-0.024549685418605804 | |
], | |
"mean": [ | |
0.2479977011680603 | |
], | |
"std": [ | |
0.3817029297351837 | |
], | |
"q01": [ | |
-0.024549685418605804 | |
], | |
"q99": [ | |
1.3164769411087036 | |
] | |
} | |
}, | |
"action": { | |
"single_arm": { | |
"max": [ | |
0.7794525623321533, | |
1.0694457292556763, | |
1.5604394674301147, | |
1.9394252300262451, | |
1.2351560592651367 | |
], | |
"min": [ | |
-0.6797194480895996, | |
-1.7936614751815796, | |
-0.5247495174407959, | |
-1.3517670631408691, | |
-0.4787188768386841 | |
], | |
"mean": [ | |
0.056976646184921265, | |
-0.8199671506881714, | |
0.8659397959709167, | |
0.7470003366470337, | |
0.08708125352859497 | |
], | |
"std": [ | |
0.266517698764801, | |
0.831433892250061, | |
0.6136879920959473, | |
0.6959707140922546, | |
0.20764468610286713 | |
], | |
"q01": [ | |
-0.6222118043899536, | |
-1.778317928314209, | |
-0.33909255266189575, | |
-0.9981288814544678, | |
-0.22788245797157286 | |
], | |
"q99": [ | |
0.5685093617439276, | |
0.8055365681648254, | |
1.5589051246643066, | |
1.9210129976272583, | |
1.0709800720214844 | |
] | |
}, | |
"gripper": { | |
"max": [ | |
1.4024008512496948 | |
], | |
"min": [ | |
-0.024549685418605804 | |
], | |
"mean": [ | |
0.2480126917362213 | |
], | |
"std": [ | |
0.38170021772384644 | |
], | |
"q01": [ | |
-0.024549685418605804 | |
], | |
"q99": [ | |
1.3164769411087036 | |
] | |
} | |
} | |
}, | |
"modalities": { | |
"video": { | |
"cam_context": { | |
"resolution": [ | |
320, | |
240 | |
], | |
"channels": 3, | |
"fps": 30.0 | |
}, | |
"cam_wrist": { | |
"resolution": [ | |
320, | |
240 | |
], | |
"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 | |
} | |
}, | |
"action": { | |
"single_arm": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
5 | |
], | |
"continuous": true | |
}, | |
"gripper": { | |
"absolute": true, | |
"rotation_type": null, | |
"shape": [ | |
1 | |
], | |
"continuous": true | |
} | |
} | |
}, | |
"embodiment_tag": "new_embodiment" | |
} | |
} |