experiment_cfg/metadata.json

{
    "new_embodiment": {
        "statistics": {
            "state": {
                "left_arm": {
                    "max": [
                        45.13888931274414,
                        63.993709564208984,
                        100.0,
                        74.18868255615234,
                        -37.14285659790039
                    ],
                    "min": [
                        -23.78472137451172,
                        -99.05660247802734,
                        -43.33183670043945,
                        -91.54717254638672,
                        -69.47496795654297
                    ],
                    "mean": [
                        17.064640045166016,
                        -47.222110748291016,
                        69.90921783447266,
                        13.385952949523926,
                        -54.960941314697266
                    ],
                    "std": [
                        15.377699851989746,
                        56.96072769165039,
                        37.81911087036133,
                        44.87302780151367,
                        5.905885219573975
                    ],
                    "q01": [
                        -13.45486068725586,
                        -99.05660247802734,
                        -18.275707244873047,
                        -63.64679290771484,
                        -69.42613220214844
                    ],
                    "q99": [
                        43.22916793823242,
                        46.776729583740234,
                        100.0,
                        74.18868255615234,
                        -43.24786376953125
                    ]
                },
                "gripper1": {
                    "max": [
                        98.3160629272461
                    ],
                    "min": [
                        0.712435245513916
                    ],
                    "mean": [
                        12.595588684082031
                    ],
                    "std": [
                        20.200172424316406
                    ],
                    "q01": [
                        0.712435245513916
                    ],
                    "q99": [
                        82.7072525024414
                    ]
                },
                "right_arm": {
                    "max": [
                        11.853211402893066,
                        74.88789367675781,
                        100.0,
                        82.73858642578125,
                        40.122100830078125
                    ],
                    "min": [
                        -30.42201805114746,
                        -99.8369369506836,
                        -31.801801681518555,
                        -97.17842102050781,
                        -57.80219650268555
                    ],
                    "mean": [
                        -6.382045745849609,
                        -50.369747161865234,
                        77.2231216430664,
                        15.49871826171875,
                        -44.52010726928711
                    ],
                    "std": [
                        6.683584690093994,
                        61.28605651855469,
                        29.75149917602539,
                        60.71828842163086,
                        15.230957984924316
                    ],
                    "q01": [
                        -26.165138244628906,
                        -98.61394500732422,
                        4.144144058227539,
                        -84.14937591552734,
                        -54.0415153503418
                    ],
                    "q99": [
                        7.082568645477295,
                        59.8858528137207,
                        99.36936950683594,
                        76.01659393310547,
                        18.827838897705078
                    ]
                },
                "gripper2": {
                    "max": [
                        93.74209594726562
                    ],
                    "min": [
                        1.8963338136672974
                    ],
                    "mean": [
                        12.28014850616455
                    ],
                    "std": [
                        17.24872398376465
                    ],
                    "q01": [
                        2.0227560997009277
                    ],
                    "q99": [
                        72.43994903564453
                    ]
                }
            },
            "action": {
                "left_arm": {
                    "max": [
                        47.32577133178711,
                        63.96708679199219,
                        99.81710052490234,
                        75.43434143066406,
                        -36.9474983215332
                    ],
                    "min": [
                        -24.068071365356445,
                        -99.3936767578125,
                        -45.95336151123047,
                        -92.88888549804688,
                        -69.42613220214844
                    ],
                    "mean": [
                        17.108076095581055,
                        -47.98756790161133,
                        69.53516387939453,
                        13.386101722717285,
                        -54.9224853515625
                    ],
                    "std": [
                        15.52619457244873,
                        56.31962966918945,
                        38.459007263183594,
                        45.456668853759766,
                        5.886935710906982
                    ],
                    "q01": [
                        -13.533225059509277,
                        -99.3936767578125,
                        -19.433013916015625,
                        -64.60606384277344,
                        -69.32845306396484
                    ],
                    "q99": [
                        43.84116744995117,
                        46.03724670410156,
                        99.81710052490234,
                        75.3535385131836,
                        -43.29670333862305
                    ]
                },
                "gripper1": {
                    "max": [
                        99.64060974121094
                    ],
                    "min": [
                        0.0
                    ],
                    "mean": [
                        11.870786666870117
                    ],
                    "std": [
                        20.910383224487305
                    ],
                    "q01": [
                        0.0
                    ],
                    "q99": [
                        83.55795288085938
                    ]
                },
                "right_arm": {
                    "max": [
                        11.862955093383789,
                        74.82284545898438,
                        100.0,
                        83.64888000488281,
                        40.56035614013672
                    ],
                    "min": [
                        -30.192720413208008,
                        -100.0,
                        -31.83047866821289,
                        -98.70912170410156,
                        -57.947105407714844
                    ],
                    "mean": [
                        -6.322625160217285,
                        -50.841678619384766,
                        76.84017181396484,
                        15.477845191955566,
                        -44.4174690246582
                    ],
                    "std": [
                        6.7100090980529785,
                        60.481021881103516,
                        30.444303512573242,
                        61.406349182128906,
                        15.194742202758789
                    ],
                    "q01": [
                        -26.081371307373047,
                        -98.5827407836914,
                        3.155996322631836,
                        -85.02581787109375,
                        -54.019378662109375
                    ],
                    "q99": [
                        7.32334041595459,
                        59.56648635864258,
                        99.54914093017578,
                        76.93631744384766,
                        18.984027862548828
                    ]
                },
                "gripper2": {
                    "max": [
                        94.39393615722656
                    ],
                    "min": [
                        0.3030303120613098
                    ],
                    "mean": [
                        11.086502075195312
                    ],
                    "std": [
                        17.79570770263672
                    ],
                    "q01": [
                        1.1363636255264282
                    ],
                    "q99": [
                        72.97878723144474
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "right": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                },
                "left": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                },
                "top_rgb": {
                    "resolution": [
                        640,
                        480
                    ],
                    "channels": 3,
                    "fps": 30.0
                }
            },
            "state": {
                "left_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "gripper1": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                },
                "right_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "gripper2": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            },
            "action": {
                "left_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "gripper1": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                },
                "right_arm": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        5
                    ],
                    "continuous": true
                },
                "gripper2": {
                    "absolute": true,
                    "rotation_type": null,
                    "shape": [
                        1
                    ],
                    "continuous": true
                }
            }
        },
        "embodiment_tag": "new_embodiment"
    }
}