{
    "dataset_name": "gr1_unified.PnPCanToDrawerClose",
    "dataset_statistics": {
        "state": {
            "left_arm": {
                "max": [
                    1.5453985929489136,
                    3.0002174377441406,
                    1.8660262823104858,
                    0.004338605795055628,
                    2.8194947242736816,
                    1.479337453842163,
                    1.3277829885482788
                ],
                "min": [
                    -2.9990265369415283,
                    -0.010651592165231705,
                    -2.3155713081359863,
                    -2.517051935195923,
                    -1.2398953437805176,
                    -1.397744059562683,
                    -1.384826898574829
                ],
                "mean": [
                    -0.3814001977443695,
                    0.15814313292503357,
                    -0.11728459596633911,
                    -1.108588457107544,
                    0.11167363822460175,
                    0.21249979734420776,
                    -0.2618458867073059
                ],
                "std": [
                    0.7127982378005981,
                    0.21411636471748352,
                    0.3783237338066101,
                    0.6645317673683167,
                    0.3871719539165497,
                    0.3984619081020355,
                    0.4672437608242035
                ],
                "q01": [
                    -1.6853315830230713,
                    -0.00003943853880628012,
                    -1.0439636707305908,
                    -2.391374111175537,
                    -0.7372957468032837,
                    -0.6744748950004578,
                    -1.1617845296859741
                ],
                "q99": [
                    1.0988128185272217,
                    0.8955146074295044,
                    0.6378664374351501,
                    -0.0042054676450788975,
                    1.0903356075286865,
                    1.1594940423965454,
                    0.8128540515899658
                ]
            },
            "left_hand": {
                "max": [
                    2.202883243560791,
                    1.8312610387802124,
                    1.826227068901062,
                    2.091661214828491,
                    1.6321302652359009,
                    2.0683209896087646
                ],
                "min": [
                    -1.1124134063720703,
                    -1.6643009185791016,
                    -1.8553754091262817,
                    -2.1675305366516113,
                    -1.3618930578231812,
                    -0.000021032576114521362
                ],
                "mean": [
                    0.4133973717689514,
                    0.39110612869262695,
                    0.35892871022224426,
                    0.37996983528137207,
                    0.04132675752043724,
                    1.6514643430709839
                ],
                "std": [
                    0.5615573525428772,
                    0.5270318984985352,
                    0.48213300108909607,
                    0.5187138915061951,
                    0.1646059900522232,
                    0.21475116908550262
                ],
                "q01": [
                    -0.058406297117471695,
                    -0.00164655817206949,
                    -0.002074209973216057,
                    -0.0017672409303486347,
                    -0.13868170976638794,
                    0.5831859707832336
                ],
                "q99": [
                    1.5012956857681274,
                    1.5013703107833862,
                    1.291706919670105,
                    1.5006378889083862,
                    0.6473898887634277,
                    1.9072154760360718
                ]
            },
            "left_leg": {
                "max": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "neck": {
                "max": [
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "right_arm": {
                "max": [
                    1.9927802085876465,
                    0.0019550633151084185,
                    1.4409186840057373,
                    0.0006903056637383997,
                    1.7851988077163696,
                    1.2236779928207397,
                    1.0975127220153809
                ],
                "min": [
                    -1.4540396928787231,
                    -1.405587077140808,
                    -1.7987384796142578,
                    -2.535712957382202,
                    -1.527036428451538,
                    -1.5001826286315918,
                    -1.3351503610610962
                ],
                "mean": [
                    0.49475669860839844,
                    -0.2275046706199646,
                    0.1922060251235962,
                    -1.781518816947937,
                    -0.005436666309833527,
                    -0.05008137226104736,
                    -0.4204781651496887
                ],
                "std": [
                    0.5883660912513733,
                    0.2053670734167099,
                    0.41802093386650085,
                    0.5314375162124634,
                    0.33366772532463074,
                    0.4049317240715027,
                    0.4889649748802185
                ],
                "q01": [
                    -0.8909544348716736,
                    -0.8265556693077087,
                    -0.7339972257614136,
                    -2.496046304702759,
                    -0.7751282453536987,
                    -0.960355281829834,
                    -1.2047799825668335
                ],
                "q99": [
                    1.6045429706573486,
                    -9.682707968750037e-6,
                    1.0973868370056152,
                    -0.3121420741081238,
                    1.1027103662490845,
                    0.7950161099433899,
                    0.763617992401123
                ]
            },
            "right_hand": {
                "max": [
                    2.5455212593078613,
                    2.345104455947876,
                    2.4279980659484863,
                    2.2130613327026367,
                    1.6406646966934204,
                    1.9661133289337158
                ],
                "min": [
                    -0.807357132434845,
                    -0.7186124920845032,
                    -0.7943087816238403,
                    -0.7451388239860535,
                    -0.9862428307533264,
                    -0.04053637385368347
                ],
                "mean": [
                    0.365853875875473,
                    0.36749067902565,
                    0.29478588700294495,
                    0.36378759145736694,
                    0.2429332286119461,
                    1.7027004957199097
                ],
                "std": [
                    0.604713499546051,
                    0.6055660247802734,
                    0.4859629273414612,
                    0.6015505194664001,
                    0.3579486012458801,
                    0.20177559554576874
                ],
                "q01": [
                    -0.003605145262554288,
                    -0.0037327175959944725,
                    -0.004186774604022503,
                    -0.0040422226302325726,
                    -0.011695077642798424,
                    0.5728335380554199
                ],
                "q99": [
                    1.504981517791748,
                    1.5054526329040527,
                    1.530768871307373,
                    1.5185383558273315,
                    1.4631761312484741,
                    1.8419467210769653
                ]
            },
            "right_leg": {
                "max": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "waist": {
                "max": [
                    0.893695056438446,
                    0.1398538053035736,
                    0.08226431906223297
                ],
                "min": [
                    -0.4789547324180603,
                    -0.2587229609489441,
                    -0.1071537435054779
                ],
                "mean": [
                    -0.007785676047205925,
                    -0.004517638590186834,
                    0.0007860831683501601
                ],
                "std": [
                    0.11734505742788315,
                    0.028154725208878517,
                    0.008364424109458923
                ],
                "q01": [
                    -0.26300859451293945,
                    -0.11805393546819687,
                    -0.028012780472636223
                ],
                "q99": [
                    0.4800500273704529,
                    0.05641545355319977,
                    0.02906462550163269
                ]
            }
        },
        "action": {
            "left_arm": {
                "max": [
                    1.576280951499939,
                    3.0000109672546387,
                    1.8702436685562134,
                    0.00017083303828258067,
                    2.8956079483032227,
                    1.4989668130874634,
                    1.4593935012817383
                ],
                "min": [
                    -2.999950885772705,
                    -0.00031668407609686255,
                    -2.326761245727539,
                    -2.7989935874938965,
                    -1.2388955354690552,
                    -1.4948872327804565,
                    -1.4924324750900269
                ],
                "mean": [
                    -0.38032153248786926,
                    0.16298896074295044,
                    -0.12384723871946335,
                    -1.1020731925964355,
                    0.1149139255285263,
                    0.21355505287647247,
                    -0.2729809880256653
                ],
                "std": [
                    0.7197218537330627,
                    0.22267448902130127,
                    0.3879665732383728,
                    0.6773863434791565,
                    0.3950718343257904,
                    0.4174274504184723,
                    0.49136650562286377
                ],
                "q01": [
                    -1.6929082870483398,
                    -1.3194081702749827e-6,
                    -1.0886045694351196,
                    -2.5441854000091553,
                    -0.7559569478034973,
                    -0.8046712279319763,
                    -1.3317369222640991
                ],
                "q99": [
                    1.1097824573516846,
                    0.9105303883552551,
                    0.6518910527229309,
                    -0.0004028785042464733,
                    1.0978606939315796,
                    1.2059168815612793,
                    0.8504613637924194
                ]
            },
            "left_hand": {
                "max": [
                    1.5,
                    1.5,
                    1.5,
                    1.5,
                    3.0,
                    3.0
                ],
                "min": [
                    -1.5,
                    -1.5,
                    -1.5,
                    -1.5,
                    -3.0,
                    0.0
                ],
                "mean": [
                    -0.5382833480834961,
                    -0.5382833480834961,
                    -0.5382833480834961,
                    -0.5382833480834961,
                    -1.0765666961669922,
                    2.999265432357788
                ],
                "std": [
                    1.401052474975586,
                    1.401052474975586,
                    1.401052474975586,
                    1.401052474975586,
                    2.802104949951172,
                    0.04693291336297989
                ],
                "q01": [
                    -1.5,
                    -1.5,
                    -1.5,
                    -1.5,
                    -3.0,
                    3.0
                ],
                "q99": [
                    1.5,
                    1.5,
                    1.5,
                    1.5,
                    3.0,
                    3.0
                ]
            },
            "left_leg": {
                "max": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "neck": {
                "max": [
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "right_arm": {
                "max": [
                    1.9915333986282349,
                    0.00009775315993465483,
                    1.4427964687347412,
                    -0.03308602049946785,
                    1.8135801553726196,
                    1.4201909303665161,
                    1.263188123703003
                ],
                "min": [
                    -1.4686570167541504,
                    -1.413724422454834,
                    -1.8021594285964966,
                    -2.838520050048828,
                    -1.5330060720443726,
                    -1.5000091791152954,
                    -1.4910980463027954
                ],
                "mean": [
                    0.48217883706092834,
                    -0.22997799515724182,
                    0.19418783485889435,
                    -1.758387565612793,
                    -0.0025678544770926237,
                    -0.04345449432730675,
                    -0.45484963059425354
                ],
                "std": [
                    0.6117128133773804,
                    0.20675495266914368,
                    0.43062955141067505,
                    0.567088782787323,
                    0.3427139222621918,
                    0.4201495945453644,
                    0.5367612242698669
                ],
                "q01": [
                    -0.9694254398345947,
                    -0.8265233039855957,
                    -0.7379055619239807,
                    -2.6509766578674316,
                    -0.7917022705078125,
                    -0.9710658192634583,
                    -1.4831217527389526
                ],
                "q99": [
                    1.59927237033844,
                    -9.145459216597374e-7,
                    1.1551809310913086,
                    -0.2493370622396469,
                    1.1117939949035645,
                    0.8409594893455505,
                    0.7766380906105042
                ]
            },
            "right_hand": {
                "max": [
                    1.5,
                    1.5,
                    1.5,
                    1.5,
                    3.0,
                    3.0
                ],
                "min": [
                    -1.5,
                    -1.5,
                    -1.5,
                    -1.5,
                    -3.0,
                    0.0
                ],
                "mean": [
                    -0.6858318448066711,
                    -0.6858318448066711,
                    -0.6858318448066711,
                    -0.6858318448066711,
                    -1.3716636896133423,
                    2.999190092086792
                ],
                "std": [
                    1.3331109285354614,
                    1.3331109285354614,
                    1.3331109285354614,
                    1.3331109285354614,
                    2.666221857070923,
                    0.04927995800971985
                ],
                "q01": [
                    -1.5,
                    -1.5,
                    -1.5,
                    -1.5,
                    -3.0,
                    3.0
                ],
                "q99": [
                    1.5,
                    1.5,
                    1.5,
                    1.5,
                    3.0,
                    3.0
                ]
            },
            "right_leg": {
                "max": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "min": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "mean": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "std": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q01": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "q99": [
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0,
                    0.0
                ]
            },
            "waist": {
                "max": [
                    0.8976137638092041,
                    0.15307487547397614,
                    0.07338730245828629
                ],
                "min": [
                    -0.4807419180870056,
                    -0.26116305589675903,
                    -0.11831828206777573
                ],
                "mean": [
                    -0.004925993736833334,
                    -0.0033325415570288897,
                    0.00007648082100786269
                ],
                "std": [
                    0.12287038564682007,
                    0.028690818697214127,
                    0.0060920570977032185
                ],
                "q01": [
                    -0.26711541414260864,
                    -0.1176784336566925,
                    -0.02255367487668991
                ],
                "q99": [
                    0.5034078359603882,
                    0.05841103196144104,
                    0.016238806769251823
                ]
            }
        },
        "total_trajectory_length": 318546,
        "num_trajectories": 1000
    },
    "modalities": {
        "video": {
            "ego_view": {
                "resolution": [
                    256,
                    256
                ],
                "channels": 3,
                "fps": 20.0
            }
        },
        "state": {
            "left_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    7
                ],
                "continuous": true
            },
            "left_hand": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "left_leg": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "neck": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    3
                ],
                "continuous": true
            },
            "right_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    7
                ],
                "continuous": true
            },
            "right_hand": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "right_leg": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "waist": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    3
                ],
                "continuous": true
            }
        },
        "action": {
            "left_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    7
                ],
                "continuous": true
            },
            "left_hand": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "left_leg": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "neck": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    3
                ],
                "continuous": true
            },
            "right_arm": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    7
                ],
                "continuous": true
            },
            "right_hand": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "right_leg": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    6
                ],
                "continuous": true
            },
            "waist": {
                "absolute": true,
                "rotation_type": null,
                "shape": [
                    3
                ],
                "continuous": true
            }
        },
        "annotation": {
            "human": [
                "fine_action",
                "coarse_action"
            ]
        }
    },
    "embodiment": {
        "robot_name": "GR1ArmsAndWaistFourierHands",
        "robot_type": "GR1ArmsAndWaistFourierHands",
        "record_frequency": 20.0,
        "body_controller_frequency": 20.0,
        "hand_controller_frequency": 20.0,
        "embodiment_tag": "gr1_unified"
    },
    "processing": null,
    "version": null
}