experiment_cfg/metadata.json

{
    "new_embodiment": {
        "statistics": {
            "state": {
                "main_arm": {
                    "max": [
                        17.9296875,
                        191.513671875,
                        184.833984375,
                        103.7109375,
                        39.638671875
                    ],
                    "min": [
                        -47.63671875,
                        42.275390625,
                        43.76953125,
                        -16.69921875,
                        -86.484375
                    ],
                    "mean": [
                        -3.9514260292053223,
                        115.6729507446289,
                        119.81109619140625,
                        59.654396057128906,
                        -7.58962345123291
                    ],
                    "std": [
                        11.631893157958984,
                        45.66527557373047,
                        39.17742919921875,
                        18.39881134033203,
                        13.31604290008545
                    ],
                    "q01": [
                        -36.826171875,
                        55.386914062500004,
                        56.25,
                        14.853515625,
                        -57.48046875
                    ],
                    "q99": [
                        8.525390625,
                        191.162109375,
                        184.39453125,
                        97.294921875,
                        20.478515625
                    ]
                },
                "main_gripper": {
                    "max": [
                        44.17647171020508
                    ],
                    "min": [
                        -0.05882352963089943
                    ],
                    "mean": [
                        7.006686687469482
                    ],
                    "std": [
                        9.721986770629883
                    ],
                    "q01": [
                        0.05882352963089943
                    ],
                    "q99": [
                        33.70588302612305
                    ]
                },
                "cv_arm": {
                    "max": [
                        46.40625,
                        181.7578125,
                        159.43359375,
                        98.4375,
                        56.953125
                    ],
                    "min": [
                        -24.521484375,
                        35.947265625,
                        39.638671875,
                        -7.119140625,
                        -87.5390625
                    ],
                    "mean": [
                        -0.4299631416797638,
                        113.0190200805664,
                        108.52798461914062,
                        62.34052658081055,
                        -5.02552604675293
                    ],
                    "std": [
                        12.961642265319824,
                        46.619747161865234,
                        33.21040344238281,
                        15.13332462310791,
                        14.51511001586914
                    ],
                    "q01": [
                        -16.69921875,
                        47.021484375,
                        55.107421875,
                        18.648632812500004,
                        -56.77734375
                    ],
                    "q99": [
                        35.843554687499335,
                        181.0546875,
                        158.994140625,
                        95.361328125,
                        33.3984375
                    ]
                },
                "cv_gripper": {
                    "max": [
                        47.11538314819336
                    ],
                    "min": [
                        -2.1291208267211914
                    ],
                    "mean": [
                        5.908763408660889
                    ],
                    "std": [
                        10.08362102508545
                    ],
                    "q01": [
                        -2.1291208267211914
                    ],
                    "q99": [
                        34.409339904785156
                    ]
                }
            },
            "action": {
                "main_arm": {
                    "max": [
                        15.64453125,
                        191.865234375,
                        193.53515625,
                        103.974609375,
                        39.814453125
                    ],
                    "min": [
                        -47.98828125,
                        42.451171875,
                        36.826171875,
                        -19.51171875,
                        -94.306640625
                    ],
                    "mean": [
                        -3.7247848510742188,
                        117.95967102050781,
                        118.52682495117188,
                        59.04578399658203,
                        -7.619071006774902
                    ],
                    "std": [
                        11.699190139770508,
                        44.85472106933594,
                        42.83469009399414,
                        18.53948211669922,
                        13.3831148147583
                    ],
                    "q01": [
                        -36.73828125,
                        56.6015625,
                        51.15234375,
                        13.88671875,
                        -57.728320312499996
                    ],
                    "q99": [
                        10.107421875,
                        191.865234375,
                        192.65625,
                        97.20703125,
                        20.56640625
                    ]
                },
                "main_gripper": {
                    "max": [
                        45.640567779541016
                    ],
                    "min": [
                        -0.26690390706062317
                    ],
                    "mean": [
                        6.632084369659424
                    ],
                    "std": [
                        10.121220588684082
                    ],
                    "q01": [
                        -0.17793594300746918
                    ],
                    "q99": [
                        34.25267028808594
                    ]
                },
                "cv_arm": {
                    "max": [
                        46.58203125,
                        181.669921875,
                        158.115234375,
                        98.61328125,
                        57.3046875
                    ],
                    "min": [
                        -27.509765625,
                        36.826171875,
                        36.474609375,
                        -7.55859375,
                        -88.06640625
                    ],
                    "mean": [
                        -0.4648164212703705,
                        115.15673828125,
                        105.80558776855469,
                        61.761329650878906,
                        -5.051438808441162
                    ],
                    "std": [
                        12.976478576660156,
                        45.85354232788086,
                        33.97755813598633,
                        15.249994277954102,
                        14.54588508605957
                    ],
                    "q01": [
                        -17.05078125,
                        48.076171875,
                        51.064453125,
                        18.209179687500004,
                        -56.849414062499996
                    ],
                    "q99": [
                        35.771484375,
                        181.669921875,
                        157.5,
                        95.185546875,
                        33.486328125
                    ]
                },
                "cv_gripper": {
                    "max": [
                        49.21514129638672
                    ],
                    "min": [
                        -3.139427423477173
                    ],
                    "mean": [
                        3.895470142364502
                    ],
                    "std": [
                        11.047956466674805
                    ],
                    "q01": [
                        -3.047091484069824
                    ],
                    "q99": [
                        35.08771896362305
                    ]
                }
            }
        },
        "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"
    }
}