363 lines
12 KiB
Python
Executable File
363 lines
12 KiB
Python
Executable File
action_statistic_dof = {
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"x2_normal": {
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# water flowers
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"follow_left_arm_joint_cur": {
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"min": [-3.7121],
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"delta": [7.6008],
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},
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"follow_right_arm_joint_cur": {
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"min": [-3.6176],
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"delta": [8.5015],
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},
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"follow_left_ee_cartesian_pos": {
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"min": [-0.036, -0.3241, -0.1245],
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"delta": [0.4389, 0.557, 0.479],
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},
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"follow_left_ee_rotation": {
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"min": [-1.2373, -0.1929, -1.5182],
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"delta": [2.2009, 1.5669, 2.0936],
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},
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"follow_left_gripper": {"min": [-0.1196], "delta": [4.5226]},
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"follow_right_ee_cartesian_pos": {
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"min": [-0.0326, -0.2273, -0.1377],
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"delta": [0.4574, 0.5704, 0.4743],
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},
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"follow_right_ee_rotation": {
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"min": [-1.2201, -0.2611, -0.7427],
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"delta": [2.6623, 1.6622, 2.4186],
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},
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"follow_right_gripper": {"min": [-0.1208], "delta": [4.5261]},
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"height": {"min": [-0.0001], "delta": [0.5051]},
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"head_actions": {"min": [-1.5000, -1.4167], "delta": [2.5000, 1.8879]},
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"base_velocity": {
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"min": [-0.0359, -0.084, -0.0162],
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"delta": [0.1539, 0.1848, 0.0322],
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},
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},
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"DobbE": {
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"follow_right_ee_cartesian_pos": {
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"min": [-0.6107, -0.3272, -0.4282],
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"delta": [1.2629, 1.5297, 0.8349],
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},
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"follow_right_ee_rotation": {
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"min": [-1.7378, -1.4597, -1.8712],
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"delta": [2.7031, 2.8182, 3.5921],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [0.9983]},
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},
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"RH20T": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3646, -0.2722, 0.0066],
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"delta": [0.3813, 0.5973, 0.3277],
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},
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"follow_right_ee_rotation": {
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"min": [-1.8716, -0.4398, -3.1414],
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"delta": [3.4145, 1.0225, 6.2828],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [95.0]},
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},
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"agibotworld_alpha": {
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"follow_left_ee_cartesian_pos": {
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"min": [0.4954, 0.0166, 0.1729],
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"delta": [0.3336, 0.5123, 0.9189],
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},
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"follow_left_ee_rotation": {
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"min": [-3.1064, -1.2629, -3.1238],
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"delta": [6.2127, 2.5923, 6.2496],
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},
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"follow_left_gripper": {"min": [34.6222], "delta": [86.1921]},
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"follow_right_ee_cartesian_pos": {
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"min": [0.4615, -0.5975, 0.1638],
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"delta": [0.3823, 0.5577, 0.8873],
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},
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"follow_right_ee_rotation": {
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"min": [-3.0891, -1.0739, -2.5091],
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"delta": [6.1707, 2.3074, 3.8533],
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},
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"follow_right_gripper": {"min": [34.6222], "delta": [85.7635]},
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"height": {"min": [0.0], "delta": [0.4535]},
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"head_actions": {"min": [-0.1746, 0.0523], "delta": [0.2444, 0.4713]},
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},
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"austin_buds": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3496, -0.2855, 0.0105],
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"delta": [0.3748, 0.492, 0.3116],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1405, -0.151, -0.0737],
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"delta": [6.2813, 0.3218, 0.1536],
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},
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"follow_right_gripper": {"min": [0.0076], "delta": [0.0724]},
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},
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"austin_sailor": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.387, -0.3165, 0.0244],
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"delta": [0.2999, 0.5252, 0.2308],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1402, -0.1618, -1.5918],
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"delta": [6.2804, 0.337, 2.9478],
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},
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"follow_right_gripper": {"min": [0.0005], "delta": [0.0773]},
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},
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"austin_sirius": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.0, -0.1182, 0.0],
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"delta": [0.5329, 0.3812, 0.2723],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1407, -0.1243, -1.7434],
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"delta": [6.2823, 0.1975, 1.8073],
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},
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"follow_right_gripper": {"min": [0.0334], "delta": [0.046]},
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},
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"bc_z": {
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"follow_right_ee_cartesian_pos": {
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"min": [-0.3883, -0.1116, 0.6113],
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"delta": [0.7199, 0.4288, 0.3709],
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},
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"follow_right_ee_rotation": {
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"min": [-1.056, -1.0587, -2.6295],
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"delta": [1.9142, 1.9455, 4.8064],
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},
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"follow_right_gripper": {"min": [0.2], "delta": [0.8]},
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},
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"berkeley_autolab_ur5": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3018, -0.2129, -0.1888],
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"delta": [0.3121, 0.52, 0.3107],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1396, -0.2278, 1.1413],
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"delta": [6.279, 0.454, 0.9841],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"berkeley_cable_routing": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.4617, -0.28, 0.03],
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"delta": [0.1838, 0.5665, 0.1272],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1413, -0.0299, -0.7665],
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"delta": [6.2826, 0.0692, 3.322],
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},
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},
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"berkeley_fanuc_manipulation": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3718, -0.4072, 0.0184],
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"delta": [0.3483, 0.7201, 0.5229],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1399, -1.0166, -1.6988],
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"delta": [6.2802, 1.4498, 3.2074],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"bridge_data_v2": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.1498, -0.2178, -0.0901],
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"delta": [0.3012, 0.469, 0.298],
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},
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"follow_right_ee_rotation": {
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"min": [-0.3279, -0.6105, -1.0578],
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"delta": [0.7378, 1.0353, 2.2552],
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},
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"follow_right_gripper": {"min": [0.0692], "delta": [0.9426]},
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},
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"dlr_edan_shared_control": {
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"follow_right_ee_cartesian_pos": {
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"min": [-0.8387, 0.1473, -0.3934],
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"delta": [0.6579, 0.6025, 1.1566],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1217, -1.5197, -2.2516],
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"delta": [6.2505, 1.5594, 4.2831],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"droid": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.2667, -0.4396, -0.0472],
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"delta": [0.5159, 0.8806, 0.8331],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1374, -1.216, -2.1741],
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"delta": [6.2749, 2.1075, 4.2259],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [0.9912]},
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},
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"fmb": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3554, -0.2844, 0.0354],
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"delta": [0.336, 0.4961, 0.2943],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1404, -0.9302, -0.0599],
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"delta": [6.2807, 1.724, 1.8284],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"fractal": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3242, -0.2836, 0.1405],
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"delta": [0.5518, 0.4963, 0.9328],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1308, -0.2421, -2.9685],
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"delta": [6.2609, 1.7343, 5.819],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"furniture_bench": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3691, -0.181, 0.0058],
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"delta": [0.2962, 0.3582, 0.1775],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1394, -0.6121, -1.9958],
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"delta": [6.2786, 1.6114, 3.7748],
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},
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"follow_right_gripper": {"min": [0.0035], "delta": [0.0762]},
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},
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"jaco_play": {
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"follow_right_ee_cartesian_pos": {
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"min": [-0.3787, -0.6294, 0.1682],
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"delta": [0.5898, 0.3587, 0.2183],
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},
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"follow_right_ee_rotation": {
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"min": [0.9792, -0.0668, -0.0498],
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"delta": [0.0175, 0.1277, 0.0686],
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},
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"follow_right_gripper": {"min": [0.0791], "delta": [0.1033]},
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},
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"nyu_rot": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.25, -1.0, -0.2],
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"delta": [0.75, 2.0, 1.2],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1416, -3.1416, 6.2831],
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"delta": [9.4248, 4.1416, 0.0],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [1.0]},
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},
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"stanford_hydra": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.2068, -0.274, 0.1317],
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"delta": [0.4929, 0.4981, 0.4588],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1321, -0.7496, -3.0269],
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"delta": [6.2658, 1.5176, 5.8261],
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},
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"follow_right_gripper": {"min": [0.0], "delta": [0.0811]},
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},
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"stanford_kuka_multimodal": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.4781, -0.0659, 0.3424],
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"delta": [0.0868, 0.0864, 0.1863],
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},
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"follow_right_ee_rotation": {
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"min": [-3.136, -0.0521, -3.1413],
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"delta": [6.2727, 0.1109, 6.2825],
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},
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"follow_right_gripper": {"min": [-0.4713], "delta": [0.9485]},
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},
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"taco_play": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.1375, -0.4291, 0.2052],
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"delta": [0.5327, 1.0237, 0.3913],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1391, -0.6946, -1.2808],
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"delta": [6.2784, 0.8196, 3.0856],
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},
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"follow_right_gripper": {"min": [0.0001], "delta": [0.0806]},
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},
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"utaustin_mutex": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3213, -0.4734, 0.0141],
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"delta": [0.2108, 0.8471, 0.5644],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1404, -0.2202, -1.5489],
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"delta": [6.2805, 0.582, 1.9282],
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},
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"follow_right_gripper": {"min": [0.0019], "delta": [0.0738]},
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},
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"viola": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.4011, -0.2521, 0.0103],
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"delta": [0.2444, 0.4305, 0.4355],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1403, -0.2737, -1.8626],
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"delta": [6.2804, 0.4901, 2.0618],
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},
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"follow_right_gripper": {"min": [0.0002], "delta": [0.0773]},
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},
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"kuka": {
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"follow_right_ee_cartesian_pos": {
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"min": [0.3914, -0.4901, 0.0175],
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"delta": [0.3339, 0.8357, 0.9064],
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},
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"follow_right_ee_rotation": {
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"min": [-3.1416, -0.9903, -3.1416],
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"delta": [6.2832, 2.2421, 6.2832],
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},
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"follow_right_gripper": {
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"min": [0.0000],
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"delta": [1.0000],
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},
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},
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"UMI-biarm": {
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"follow_left_ee_cartesian_pos": {
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"min": [-0.2917, -0.4926, 0.0063],
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"delta": [0.9028, 0.8168, 0.3473],
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},
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"follow_left_ee_rotation": {
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"min": [-2.5309, -1.5706, -1.3309],
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"delta": [0.8758, 2.3315, 1.7076],
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},
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"follow_left_gripper": {
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"min": [0.0029],
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"delta": [0.0812],
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},
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"follow_right_ee_cartesian_pos": {
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"min": [-0.0023, -0.5191, -0.0358],
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"delta": [0.7474, 0.8668, 0.351],
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},
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"follow_right_ee_rotation": {
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"min": [-2.4945, -2.0149, -0.8088],
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"delta": [1.0941, 3.2628, 2.0018],
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},
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"follow_right_gripper": {
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"min": [0.0019],
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"delta": [0.0814],
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},
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},
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"agibotworld_beta": {
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"follow_left_ee_cartesian_pos": {
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"min": [0.4954, 0.0166, 0.1729],
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"delta": [0.3336, 0.5123, 0.9189],
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},
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"follow_left_ee_rotation": {
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"min": [-3.1064, -1.2629, -3.1238],
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"delta": [6.2127, 2.5923, 6.2496],
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},
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"follow_left_gripper": {"min": [34.6222], "delta": [86.1921]},
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"follow_right_ee_cartesian_pos": {
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"min": [0.4615, -0.5975, 0.1638],
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"delta": [0.3823, 0.5577, 0.8873],
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},
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"follow_right_ee_rotation": {
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"min": [-3.0891, -1.0739, -2.5091],
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"delta": [6.1707, 2.3074, 3.8533],
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},
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"follow_right_gripper": {"min": [34.6222], "delta": [85.7635]},
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"height": {"min": [0.0], "delta": [0.4535]},
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"head_actions": {"min": [-0.1746, 0.0523], "delta": [0.2444, 0.4713]},
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},
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}
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