File size: 7,813 Bytes
5edc2a3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
    "new_embodiment": {
        "statistics": {
            "state": {
                "ee_pos": {
                    "max": [
                        1.0445054769515991,
                        0.3470665514469147,
                        1.4700685739517212
                    ],
                    "min": [
                        0.1838131844997406,
                        -0.5843750834465027,
                        0.04056897014379501
                    ],
                    "mean": [
                        0.5582236051559448,
                        -0.08300189673900604,
                        0.7772340178489685
                    ],
                    "std": [
                        0.12363138049840927,
                        0.11604815721511841,
                        0.24593593180179596
                    ],
                    "q01": [
                        0.3234633982181549,
                        -0.28441879630088807,
                        0.1458880114555359
                    ],
                    "q99": [
                        0.8652871274948125,
                        0.21206561148166658,
                        1.0745275926589968
                    ]
                },
                "ee_rot": {
                    "max": [
                        3.1415653228759766,
                        1.566409707069397,
                        3.141547203063965
                    ],
                    "min": [
                        -3.141592025756836,
                        -1.5282315015792847,
                        -3.1414151191711426
                    ],
                    "mean": [
                        -1.5147697925567627,
                        0.6286751627922058,
                        -1.5984735488891602
                    ],
                    "std": [
                        2.3525280952453613,
                        0.4260922372341156,
                        0.7988712787628174
                    ],
                    "q01": [
                        -3.1298227596282957,
                        -0.27232100486755373,
                        -2.9340155124664307
                    ],
                    "q99": [
                        3.129863758087158,
                        1.4980819606781006,
                        2.7100111389160326
                    ]
                },
                "gripper": {
                    "max": [
                        1.0
                    ],
                    "min": [
                        0.0
                    ],
                    "mean": [
                        0.4253251254558563
                    ],
                    "std": [
                        0.4524628520011902
                    ],
                    "q01": [
                        0.0
                    ],
                    "q99": [
                        1.0
                    ]
                }
            },
            "action": {
                "delta_ee_pos": {
                    "max": [
                        0.5550869703292847,
                        0.6613938808441162,
                        0.4460238218307495
                    ],
                    "min": [
                        -0.6938332915306091,
                        -0.34429341554641724,
                        -0.9073049426078796
                    ],
                    "mean": [
                        0.0064107151702046394,
                        0.005962457973510027,
                        -0.012736928649246693
                    ],
                    "std": [
                        0.0682622417807579,
                        0.05155812203884125,
                        0.07122023403644562
                    ],
                    "q01": [
                        -0.2275641703605652,
                        -0.1539819920063019,
                        -0.22974993288516998
                    ],
                    "q99": [
                        0.17734881103038808,
                        0.15428576409816747,
                        0.20968675017356883
                    ]
                },
                "delta_ee_rot": {
                    "max": [
                        1.4319747686386108,
                        1.053809404373169,
                        1.3339565992355347
                    ],
                    "min": [
                        -1.1288174390792847,
                        -0.9476303458213806,
                        -1.2851263284683228
                    ],
                    "mean": [
                        0.04663591459393501,
                        -0.004335819277912378,
                        0.003050651401281357
                    ],
                    "std": [
                        0.1596883088350296,
                        0.12948152422904968,
                        0.14712892472743988
                    ],
                    "q01": [
                        -0.336486873626709,
                        -0.4046125137805939,
                        -0.42900956273078916
                    ],
                    "q99": [
                        0.620846149921418,
                        0.35022614836692817,
                        0.45930901885032765
                    ]
                },
                "gripper": {
                    "max": [
                        1.0
                    ],
                    "min": [
                        0.0
                    ],
                    "mean": [
                        0.5334646105766296
                    ],
                    "std": [
                        0.4988788366317749
                    ],
                    "q01": [
                        0.0
                    ],
                    "q99": [
                        1.0
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "image": {
                    "resolution": [
                        320,
                        256
                    ],
                    "channels": 3,
                    "fps": 3.0
                }
            },
            "state": {
                "ee_pos": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        3
                    ],
                    "continuous": true
                },
                "ee_rot": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        3
                    ],
                    "continuous": true
                },
                "gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            },
            "action": {
                "delta_ee_pos": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        3
                    ],
                    "continuous": true
                },
                "delta_ee_rot": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        3
                    ],
                    "continuous": true
                },
                "gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            }
        },
        "embodiment_tag": "new_embodiment"
    }
}