File size: 6,836 Bytes
0e8063c
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
    "new_embodiment": {
        "statistics": {
            "state": {
                "joint_state": {
                    "max": [
                        3.35524320602417,
                        -1.0901570320129395,
                        1.921777606010437,
                        -1.7477141618728638,
                        -1.486493468284607,
                        0.28720736503601074
                    ],
                    "min": [
                        2.8941030502319336,
                        -1.5188004970550537,
                        1.5325502157211304,
                        -2.3195159435272217,
                        -1.8238309621810913,
                        -0.3950203061103821
                    ],
                    "mean": [
                        3.117759943008423,
                        -1.2923474311828613,
                        1.7299931049346924,
                        -1.9779006242752075,
                        -1.6687124967575073,
                        -0.008849170990288258
                    ],
                    "std": [
                        0.11333384364843369,
                        0.07360938936471939,
                        0.06820472329854965,
                        0.0754924789071083,
                        0.05238862335681915,
                        0.11165500432252884
                    ],
                    "q01": [
                        2.919258089065552,
                        -1.4639486396312713,
                        1.5665747356414794,
                        -2.1587486171722414,
                        -1.786708240509033,
                        -0.27216118574142456
                    ],
                    "q99": [
                        3.3308198475837707,
                        -1.134760583639145,
                        1.8730972576141356,
                        -1.826737403869629,
                        -1.5515401363372803,
                        0.22390946477651594
                    ]
                },
                "gripper": {
                    "max": [
                        228.0
                    ],
                    "min": [
                        3.0
                    ],
                    "mean": [
                        171.0463104248047
                    ],
                    "std": [
                        93.9524154663086
                    ],
                    "q01": [
                        3.0
                    ],
                    "q99": [
                        228.0
                    ]
                }
            },
            "action": {
                "joint_state": {
                    "max": [
                        3.35524320602417,
                        -1.0901570320129395,
                        1.921777606010437,
                        -1.7477141618728638,
                        -1.486493468284607,
                        0.28720736503601074
                    ],
                    "min": [
                        2.8941030502319336,
                        -1.5188004970550537,
                        1.5325502157211304,
                        -2.3195159435272217,
                        -1.8238309621810913,
                        -0.3950203061103821
                    ],
                    "mean": [
                        3.117722749710083,
                        -1.29246985912323,
                        1.7300474643707275,
                        -1.9778891801834106,
                        -1.6687861680984497,
                        -0.008841215632855892
                    ],
                    "std": [
                        0.11333613097667694,
                        0.07367856800556183,
                        0.06822366267442703,
                        0.07544912397861481,
                        0.05228527635335922,
                        0.11165928095579147
                    ],
                    "q01": [
                        2.919258089065552,
                        -1.464362633228302,
                        1.5665747356414794,
                        -2.1587486171722414,
                        -1.7864461660385131,
                        -0.27216118574142456
                    ],
                    "q99": [
                        3.3308198475837707,
                        -1.134760583639145,
                        1.873173861503601,
                        -1.8267549419403075,
                        -1.5515621089935303,
                        0.22390946477651594
                    ]
                },
                "gripper": {
                    "max": [
                        1.0
                    ],
                    "min": [
                        -1.0
                    ],
                    "mean": [
                        -0.5914595127105713
                    ],
                    "std": [
                        0.8063073754310608
                    ],
                    "q01": [
                        -1.0
                    ],
                    "q99": [
                        1.0
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "image": {
                    "resolution": [
                        720,
                        540
                    ],
                    "channels": 3,
                    "fps": 20.0
                },
                "wrist_image": {
                    "resolution": [
                        720,
                        540
                    ],
                    "channels": 3,
                    "fps": 20.0
                }
            },
            "state": {
                "joint_state": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                },
                "gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            },
            "action": {
                "joint_state": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        6
                    ],
                    "continuous": true
                },
                "gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            }
        },
        "embodiment_tag": "new_embodiment"
    }
}