File size: 11,695 Bytes
6c62b5b
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
{
    "new_embodiment": {
        "statistics": {
            "state": {
                "main_arm": {
                    "max": [
                        14.0625,
                        187.91015625,
                        178.681640625,
                        104.853515625,
                        28.916015625
                    ],
                    "min": [
                        -49.482421875,
                        30.673828125,
                        36.2109375,
                        4.921875,
                        -92.63671875
                    ],
                    "mean": [
                        -4.399827480316162,
                        93.19247436523438,
                        106.70701599121094,
                        66.7170639038086,
                        -21.964155197143555
                    ],
                    "std": [
                        11.51154613494873,
                        50.52891159057617,
                        39.67424011230469,
                        15.980795860290527,
                        18.69403839111328
                    ],
                    "q01": [
                        -36.650390625,
                        36.85517578125,
                        46.494140625,
                        24.521484375,
                        -81.8560546875
                    ],
                    "q99": [
                        9.4921875,
                        187.822265625,
                        178.505859375,
                        101.83623046874985,
                        10.254199218749847
                    ]
                },
                "main_gripper": {
                    "max": [
                        60.66584396362305
                    ],
                    "min": [
                        -1.2330455780029297
                    ],
                    "mean": [
                        15.163887023925781
                    ],
                    "std": [
                        11.681447982788086
                    ],
                    "q01": [
                        -0.9864364862442017
                    ],
                    "q99": [
                        43.50616661071766
                    ]
                },
                "cv_arm": {
                    "max": [
                        46.23046875,
                        191.865234375,
                        178.857421875,
                        104.501953125,
                        76.11328125
                    ],
                    "min": [
                        -19.423828125,
                        9.052734375,
                        0.17578125,
                        -4.482421875,
                        -38.759765625
                    ],
                    "mean": [
                        1.0630531311035156,
                        93.31275177001953,
                        99.94940185546875,
                        67.67215728759766,
                        -0.2923705577850342
                    ],
                    "std": [
                        12.346967697143555,
                        52.402950286865234,
                        44.95267868041992,
                        19.533050537109375,
                        13.91037368774414
                    ],
                    "q01": [
                        -15.556640625,
                        25.956738281249997,
                        10.8984375,
                        14.765625,
                        -29.1796875
                    ],
                    "q99": [
                        38.14453125,
                        191.865234375,
                        178.857421875,
                        103.974609375,
                        29.970703125
                    ]
                },
                "cv_gripper": {
                    "max": [
                        45.980709075927734
                    ],
                    "min": [
                        1.929260492324829
                    ],
                    "mean": [
                        14.145573616027832
                    ],
                    "std": [
                        10.064169883728027
                    ],
                    "q01": [
                        1.929260492324829
                    ],
                    "q99": [
                        35.627010345458984
                    ]
                }
            },
            "action": {
                "main_arm": {
                    "max": [
                        16.435546875,
                        190.458984375,
                        179.6484375,
                        105.205078125,
                        30.234375
                    ],
                    "min": [
                        -50.09765625,
                        31.728515625,
                        31.904296875,
                        2.900390625,
                        -104.94140625
                    ],
                    "mean": [
                        -4.422209739685059,
                        96.2133560180664,
                        105.27400207519531,
                        66.3408432006836,
                        -21.988956451416016
                    ],
                    "std": [
                        11.607337951660156,
                        50.3560676574707,
                        40.08565902709961,
                        16.138025283813477,
                        18.886301040649414
                    ],
                    "q01": [
                        -36.650390625,
                        38.408203125,
                        44.912109375,
                        24.345703125,
                        -81.9140625
                    ],
                    "q99": [
                        10.01953125,
                        190.37109375,
                        178.330078125,
                        101.865234375,
                        10.546875
                    ]
                },
                "main_gripper": {
                    "max": [
                        60.837886810302734
                    ],
                    "min": [
                        -1.5482696294784546
                    ],
                    "mean": [
                        12.750053405761719
                    ],
                    "std": [
                        13.86907958984375
                    ],
                    "q01": [
                        -1.4571949243545532
                    ],
                    "q99": [
                        43.959015846252285
                    ]
                },
                "cv_arm": {
                    "max": [
                        46.40625,
                        192.744140625,
                        180.3515625,
                        104.501953125,
                        76.728515625
                    ],
                    "min": [
                        -31.11328125,
                        8.26171875,
                        -0.966796875,
                        -5.625,
                        -39.111328125
                    ],
                    "mean": [
                        1.0587259531021118,
                        96.2394027709961,
                        98.4623794555664,
                        67.24394989013672,
                        -0.27370795607566833
                    ],
                    "std": [
                        12.452760696411133,
                        51.369232177734375,
                        45.604339599609375,
                        19.6612491607666,
                        13.97702407836914
                    ],
                    "q01": [
                        -16.69921875,
                        28.037109375,
                        10.01953125,
                        14.706738281249999,
                        -29.443359375
                    ],
                    "q99": [
                        38.14453125,
                        192.65625,
                        179.6484375,
                        104.0625,
                        30.176367187499693
                    ]
                },
                "cv_gripper": {
                    "max": [
                        46.73283767700195
                    ],
                    "min": [
                        -1.406120777130127
                    ],
                    "mean": [
                        11.376704216003418
                    ],
                    "std": [
                        12.593560218811035
                    ],
                    "q01": [
                        -1.323407769203186
                    ],
                    "q99": [
                        36.200992355346536
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "main": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                },
                "cv": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                },
                "webcam": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                }
            },
            "state": {
                "main_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "main_gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                },
                "cv_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "cv_gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            },
            "action": {
                "main_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "main_gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                },
                "cv_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "cv_gripper": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            }
        },
        "embodiment_tag": "new_embodiment"
    }
}