experiment_cfg/metadata.json

{
    "new_embodiment": {
        "statistics": {
            "state": {
                "left_arm": {
                    "max": [
                        45.07377624511719,
                        55.723270416259766,
                        100.0,
                        75.35292053222656,
                        -32.6773681640625
                    ],
                    "min": [
                        -17.848644256591797,
                        -100.0,
                        -19.266876220703125,
                        -95.87943267822266,
                        -62.09217834472656
                    ],
                    "mean": [
                        5.961390018463135,
                        -69.77558898925781,
                        86.302001953125,
                        44.21531295776367,
                        -43.49432373046875
                    ],
                    "std": [
                        11.90206527709961,
                        51.40785598754883,
                        26.839374542236328,
                        52.70073699951172,
                        3.3679187297821045
                    ],
                    "q01": [
                        -12.803426742553711,
                        -100.0,
                        4.336164474487305,
                        -86.26478576660156,
                        -53.236663818359375
                    ],
                    "q99": [
                        40.98048400878906,
                        42.80922317504883,
                        100.0,
                        75.35292053222656,
                        -35.784568786621094
                    ]
                },
                "gripper1": {
                    "max": [
                        76.53194427490234
                    ],
                    "min": [
                        0.0
                    ],
                    "mean": [
                        9.278239250183105
                    ],
                    "std": [
                        10.504193305969238
                    ],
                    "q01": [
                        1.8904824256896973
                    ],
                    "q99": [
                        57.62711715698242
                    ]
                },
                "right_arm": {
                    "max": [
                        55.04941940307617,
                        87.9725112915039,
                        98.92520904541016,
                        78.59872436523438,
                        43.591060638427734
                    ],
                    "min": [
                        -29.179201126098633,
                        -98.71134185791016,
                        -56.38154983520508,
                        -97.8768539428711,
                        -70.25430297851562
                    ],
                    "mean": [
                        4.257948875427246,
                        -6.147779941558838,
                        54.093971252441406,
                        -21.178335189819336,
                        -35.65965270996094
                    ],
                    "std": [
                        21.212779998779297,
                        55.296844482421875,
                        32.8692741394043,
                        56.77510452270508,
                        26.9205322265625
                    ],
                    "q01": [
                        -26.342931747436523,
                        -98.3676986694336,
                        -20.644872665405273,
                        -97.62207794189453,
                        -59.15746307373047
                    ],
                    "q99": [
                        49.63472366333008,
                        69.58763122558594,
                        98.56694793701172,
                        77.74946594238281,
                        37.63164520263672
                    ]
                },
                "gripper2": {
                    "max": [
                        84.19355010986328
                    ],
                    "min": [
                        0.9032257795333862
                    ],
                    "mean": [
                        14.522881507873535
                    ],
                    "std": [
                        17.216049194335938
                    ],
                    "q01": [
                        1.0322580337524414
                    ],
                    "q99": [
                        66.38710021972656
                    ]
                }
            },
            "action": {
                "left_arm": {
                    "max": [
                        46.59775924682617,
                        55.16328430175781,
                        100.0,
                        76.70845031738281,
                        -32.421207427978516
                    ],
                    "min": [
                        -18.173988342285156,
                        -100.0,
                        -21.63153076171875,
                        -97.25030517578125,
                        -64.23161315917969
                    ],
                    "mean": [
                        6.162662506103516,
                        -70.2553939819336,
                        86.26774597167969,
                        44.83501052856445,
                        -43.4974365234375
                    ],
                    "std": [
                        12.038820266723633,
                        51.182594299316406,
                        27.53900146484375,
                        53.55598449707031,
                        3.376429557800293
                    ],
                    "q01": [
                        -12.6614990234375,
                        -100.0,
                        2.4747936725616455,
                        -86.89850616455078,
                        -53.18836975097656
                    ],
                    "q99": [
                        41.77433395385742,
                        41.83583450317383,
                        100.0,
                        76.70845031738281,
                        -35.93940734863281
                    ]
                },
                "gripper1": {
                    "max": [
                        77.81721496582031
                    ],
                    "min": [
                        0.0
                    ],
                    "mean": [
                        9.255863189697266
                    ],
                    "std": [
                        10.7840576171875
                    ],
                    "q01": [
                        0.0
                    ],
                    "q99": [
                        57.67524337768555
                    ]
                },
                "right_arm": {
                    "max": [
                        55.28523635864258,
                        86.01165771484375,
                        99.54934692382812,
                        79.18629455566406,
                        44.62266540527344
                    ],
                    "min": [
                        -29.614093780517578,
                        -99.1673583984375,
                        -60.34249496459961,
                        -99.82869720458984,
                        -70.54956817626953
                    ],
                    "mean": [
                        4.253830909729004,
                        -8.125250816345215,
                        52.800907135009766,
                        -21.562973022460938,
                        -35.52308654785156
                    ],
                    "std": [
                        21.214542388916016,
                        54.50907516479492,
                        34.04475784301758,
                        57.11996841430664,
                        26.99753761291504
                    ],
                    "q01": [
                        -26.42617416381836,
                        -98.08493041992188,
                        -24.200090408325195,
                        -98.80085754394531,
                        -58.927162170410156
                    ],
                    "q99": [
                        49.6644287109375,
                        67.44379425048828,
                        98.9184341430664,
                        78.32976531982422,
                        38.25926971435547
                    ]
                },
                "gripper2": {
                    "max": [
                        84.55223846435547
                    ],
                    "min": [
                        0.1492537260055542
                    ],
                    "mean": [
                        12.350263595581055
                    ],
                    "std": [
                        18.221548080444336
                    ],
                    "q01": [
                        0.8208954930305481
                    ],
                    "q99": [
                        66.3432846069336
                    ]
                }
            }
        },
        "modalities": {
            "video": {
                "right": {
                    "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"
    }
}