{ "g1_heft": { "state": { "joint_position": { "min": [ -0.3967556059360504, -0.39027026295661926, -0.2537764310836792, -0.22532473504543304, -0.5114803314208984, -0.17879684269428253, -0.5037093758583069, -1.040336012840271, -0.06969813257455826, -0.0010311759542673826, 0.009178318083286285, -0.4378916025161743, -2.8147590160369873, -0.36294087767601013, -0.48336002230644226, -0.05442036688327789, -2.157723903656006, -0.21120533347129822, -0.19152714312076569, -0.6097813248634338, -0.8616777658462524, -0.143511101603508, -0.4498758316040039, -1.2266693115234375, -1.4626147747039795, -0.21551232039928436, -0.5952085256576538, -0.6632789373397827, -1.370072603225708 ], "max": [ 0.32808440923690796, 0.3294309079647064, 0.39962756633758545, 0.4155639111995697, 0.19281286001205444, 0.4612109959125519, 0.6512478590011597, 0.2290148138999939, 0.42060738801956177, 1.2753771543502808, 1.1494543552398682, 0.2449815273284912, 0.3877735733985901, 0.39100608229637146, 0.42000433802604675, 0.6817585825920105, -0.07849667221307755, 0.22131916880607605, 0.21125800907611847, 0.37587323784828186, 2.5153090953826904, 1.4813580513000488, 1.634864091873169, 0.7024433612823486, 1.2137622833251953, 0.6177868247032166, 0.7384679317474365, 0.8406094908714294, 0.958306610584259 ], "mean": [ 0.009594946149312078, -0.012116376438927656, 0.057138769123520346, 0.03229605402954488, -0.07622727432900342, -0.02217569835426249, 0.06405375538803833, -0.1546009351609176, 0.13479303224596614, 0.12900787606476463, 0.15996872005469823, -0.04715825245999469, -0.48067387765867475, -0.07521794146599155, -0.08188225048230424, 0.2886074236222252, -0.5011296664754865, -0.02491418252015477, 0.04148368631970046, -0.15574503497870124, 0.32567772917526966, 1.2053897049156905, 0.4959788415676994, -0.06991282327753505, 0.19484839659777176, 0.13007504179544013, 0.02261612033732995, 0.1313856489661974, 0.0031905261641737995 ], "std": [ 0.10080513446226318, 0.0934240638847502, 0.08803344969025405, 0.05870605640609433, 0.0683006436899359, 0.03960904790819792, 0.10694949640087545, 0.10967961565165027, 0.05776945315256184, 0.11187030619943715, 0.12358805783878124, 0.06027719079180399, 0.40133862404991943, 0.06776859460461296, 0.07707008796587166, 0.06366036065111734, 0.20051451734042958, 0.046084857256499044, 0.05272372059503313, 0.0975600812166384, 0.28496930113856284, 0.12086477923584746, 0.5587259576618397, 0.16868537270733358, 0.37577923686569425, 0.14173867588860262, 0.1570125106236177, 0.22153744515025206, 0.2787217191226084 ], "q01": [ -0.2548044383525848, -0.26462021470069885, -0.12724443078041076, -0.0958601638674736, -0.2831132054328918, -0.12978269159793854, -0.19360662996768951, -0.57743980884552, 0.02514094188809395, 0.05573122575879097, 0.06772524863481522, -0.21014338731765747, -1.5500204801559447, -0.22067586779594422, -0.25583191514015197, 0.1734213262796402, -1.087887215614319, -0.11668550074100495, -0.10671820491552353, -0.4138272762298584, -0.5186580777168274, 0.8584492325782777, -0.2733314216136932, -0.4649687647819519, -0.6844718217849731, -0.14097043871879578, -0.31990931630134584, -0.22033717334270475, -0.909303081035614 ], "q99": [ 0.19351167976856232, 0.20062082111835478, 0.2887694537639618, 0.2135454624891279, 0.06216542273759834, 0.07264577597379683, 0.39122548699378934, 0.053838100284337956, 0.33302269577980037, 0.6794750928878782, 0.7596306800842278, 0.09025319665670395, 0.0890212193131443, 0.12188822627067551, 0.12868857681751242, 0.4733169674873352, -0.19857381582260156, 0.11358110904693576, 0.13834015130996705, 0.08084558695554733, 0.9407880425453186, 1.3726563930511473, 1.3655545234680173, 0.28083594441413867, 0.9974974274635298, 0.4210777282714844, 0.4214324593543998, 0.7369340062141418, 0.6251499295234676 ] } }, "action": { "root_local": { "min": [ -0.43101248145103455, -0.24202874302864075, -0.31924086809158325, -0.08726700395345688, -0.3745346963405609, -0.26179999113082886, -0.45998284220695496, -0.5664225816726685, -0.7763651013374329, -0.08726737648248672, -0.34316450357437134, -0.08738861978054047, -0.2791321873664856, -0.2586599588394165, -0.1832597255706787, -0.4437520503997803, -0.4895506501197815, -0.6624303460121155, -0.25071612000465393, -1.4249913692474365, -0.2939627766609192, -0.7711055874824524, -3.089200019836426, -2.251500129699707, -0.9062362313270569, -0.47939687967300415, -1.5984599590301514, -0.692857563495636, -1.4311563968658447, -0.48704424500465393, -0.4427714943885803, -0.04230743646621704, -0.19477154314517975, -0.9998215436935425, -0.23059462010860443, -0.7636915445327759, -0.19353483617305756, -0.22201953828334808, 0.0, 0.0 ], "max": [ 0.3716237545013428, 0.4680149555206299, 0.6677578091621399, 1.1967136859893799, 0.36097007989883423, 0.13692378997802734, 0.36524322628974915, 0.14338967204093933, 0.23810553550720215, 1.041733741760254, 0.3616960942745209, 0.2617999315261841, 0.4703235924243927, 0.5199999809265137, 0.5199999809265137, 0.28550344705581665, 0.7132689952850342, 0.4458114206790924, 1.4491417407989502, 0.7996933460235596, 0.6984569430351257, 0.8922561407089233, 0.37872326374053955, -0.025211533531546593, 2.618000030517578, 1.5551677942276, 1.4216184616088867, 0.7958832383155823, 1.0879156589508057, 0.46385449171066284, 0.3810043931007385, 0.052625954151153564, 1.0, 0.7610474228858948, 0.19089250266551971, 0.9999997019767761, 1.0, 0.21314860880374908, 0.0, 1.0 ], "mean": [ 0.033418054112852355, 0.06093141585368822, 0.07604293499664416, 0.04823992985210164, -0.029572420185776008, -0.049318248104679614, 0.03611997432717123, -0.13536218194426455, -0.14671583161096693, 0.07207994676743039, -0.0050877052106775775, 0.10907373722604839, 0.05986379810412769, -0.04216510584322933, 0.12311100036760585, -0.008603244909718703, 0.3323985378730199, -0.16377466312179803, 1.1700422041266574, -0.06205802701068457, 0.1367432637914551, 0.1393716988241412, -0.5128994936130736, -0.5190786808315715, 0.30404734793558746, 0.46762409816355294, 0.2069603403862259, 0.01142668508213328, 0.018450203764979748, 0.0146242941810799, -0.0050468862445729465, 2.4551900083116766e-05, 0.9886026131804971, -0.02530680704975805, 0.0010313411322433613, 0.02519064255522762, 0.9882763009437876, -0.0007321909620623349, 0.0, 0.553455541559122 ], "std": [ 0.12121049141137677, 0.06562073856698679, 0.11394895256280393, 0.16145097849267664, 0.08014186694055811, 0.052536300606900864, 0.10493302892678395, 0.07749559489808323, 0.11884001821299497, 0.1458377611909016, 0.08105453031987048, 0.05418728959286906, 0.11216751965915694, 0.048478530640962386, 0.08117084001496357, 0.065353581473645, 0.06557216650389341, 0.10276863593679987, 0.13054574761989993, 0.17454818278671222, 0.16292884675170322, 0.23094271555190346, 0.42650224110817997, 0.21645975619898106, 0.2915346843553718, 0.5734675832977589, 0.3918108955959333, 0.177371402859481, 0.29577235687292247, 0.0705046688282154, 0.05559094524139535, 0.005646773923291314, 0.05069514346113761, 0.13691858062161166, 0.026583449177049932, 0.1370945568617717, 0.050829567869312337, 0.03600397167166051, 0.0, 0.49663334105090784 ], "q01": [ -0.2668549120426178, -0.08257932960987091, -0.18781167268753052, -0.08726699650287628, -0.2168368399143219, -0.1645175814628601, -0.2493157982826233, -0.34941190481185913, -0.5326669216156006, -0.08726699650287628, -0.20860007405281067, -0.0251467265188694, -0.15802119672298431, -0.18679259717464447, -0.02215815894305706, -0.1964767873287201, 0.2205345183610916, -0.41870754957199097, 0.8184259533882141, -0.47792068123817444, -0.1904497742652893, -0.23051393032073975, -1.612612247467041, -1.1628139019012451, -0.5469273328781128, -0.3279397785663605, -0.7031332850456238, -0.35553136467933655, -0.9186270236968994, -0.18939056172966956, -0.17961656272411347, -0.015675301551818847, 0.725578961968422, -0.6848118299245834, -0.07573490627110004, -0.21586443543434142, 0.7241324102878571, -0.10451267905533312, 0.0, 0.0 ], "q99": [ 0.2602812349796295, 0.25048398703335445, 0.4175134301185608, 0.6998357772827148, 0.19159191846847534, 0.08805429503320861, 0.2644321620464325, 0.023861616849899292, 0.0921102911233902, 0.679039716720581, 0.2287910282611847, 0.21824665367603302, 0.37526631355285645, 0.07916446030139923, 0.402423620223999, 0.13834910094738007, 0.5487155318260193, 0.07719717174768448, 1.3513909578323364, 0.2988387942314148, 0.462659547924995, 0.7767245769500732, 0.10471570491790771, -0.15158554911613464, 0.9215548634529114, 1.3577766418457031, 1.0861786603927612, 0.4642687439918518, 0.706809401512146, 0.25981940448284113, 0.15967351391911494, 0.01773762583732602, 0.999999463558197, 0.2160452067852018, 0.08312424182891844, 0.6863480919599528, 0.9999997019767761, 0.10185461908578865, 0.0, 1.0 ] } } } }