{
  "action_mode": "inverse_dynamics",
  "domain": "av",
  "shape": [
    60,
    9
  ],
  "raw_action_dim": 9,
  "action": [
    [
      0.13546139001846313,
      0.025174729526042938,
      1.426080346107483,
      1.1145950555801392,
      0.07488197088241577,
      -0.07223373651504517,
      0.04350957274436951,
      1.0150262117385864,
      -0.00448286347091198
    ],
    [
      0.07021187245845795,
      -0.011819683015346527,
      1.2888935804367065,
      1.0235754251480103,
      -0.05280384421348572,
      -0.02510145492851734,
      0.04146409034729004,
      1.0186502933502197,
      0.05276322364807129
    ],
    [
      0.09703329205513,
      0.018842071294784546,
      1.3100371360778809,
      1.0333178043365479,
      -0.0431232750415802,
      -0.028406988829374313,
      -0.028543800115585327,
      1.049324631690979,
      0.02590996026992798
    ],
    [
      0.06821039319038391,
      -0.05265656113624573,
      1.3186297416687012,
      1.0072031021118164,
      0.015827640891075134,
      -0.0009630471467971802,
      0.08952575922012329,
      1.0796962976455688,
      -0.013196155428886414
    ],
    [
      0.05664193630218506,
      -0.05819624662399292,
      1.1806482076644897,
      1.0337612628936768,
      -0.05230799317359924,
      -0.05698022246360779,
      -0.018793731927871704,
      1.0122668743133545,
      -0.06691086292266846
    ],
    [
      0.06336109340190887,
      -0.033161431550979614,
      1.2057015895843506,
      0.9815682172775269,
      -0.052350759506225586,
      -0.05170893669128418,
      0.0011204741895198822,
      1.0991325378417969,
      -0.021897152066230774
    ],
    [
      0.10591363161802292,
      -0.04752570390701294,
      1.138118028640747,
      0.9648622274398804,
      0.035588592290878296,
      -0.04252072796225548,
      0.018809214234352112,
      1.0108567476272583,
      -0.019017472863197327
    ],
    [
      0.07684259116649628,
      0.01119421049952507,
      1.0927064418792725,
      1.047748327255249,
      0.007765151560306549,
      -0.034338124096393585,
      0.013474099338054657,
      1.0956096649169922,
      -0.027869120240211487
    ],
    [
      0.058235108852386475,
      -0.05473977327346802,
      1.0785033702850342,
      1.0151678323745728,
      0.006711810827255249,
      -0.006015300750732422,
      0.01291511207818985,
      1.0781538486480713,
      -0.013953767716884613
    ],
    [
      0.08591170608997345,
      -0.01916104555130005,
      1.0887410640716553,
      1.0545742511749268,
      -0.07691192626953125,
      -0.07171212136745453,
      -0.03703737258911133,
      1.0434694290161133,
      -0.01779910922050476
    ],
    [
      0.12193122506141663,
      0.04982006549835205,
      1.1134510040283203,
      0.9903247356414795,
      -0.05103370547294617,
      -0.06394928693771362,
      0.03896644711494446,
      1.0138628482818604,
      -0.014058023691177368
    ],
    [
      0.12709589302539825,
      0.08672934770584106,
      1.1100571155548096,
      1.015282154083252,
      0.038707435131073,
      -0.04258517920970917,
      -0.018928349018096924,
      1.047316551208496,
      -0.02057214081287384
    ],
    [
      0.20476627349853516,
      -0.004204690456390381,
      1.0337212085723877,
      1.014133334159851,
      -0.05253276228904724,
      -0.04514233395457268,
      -0.010963991284370422,
      0.9420084953308105,
      0.0007240017876029015
    ],
    [
      0.1305149793624878,
      0.005878615193068981,
      1.033996343612671,
      1.045791506767273,
      -0.042561084032058716,
      -0.06542721390724182,
      0.021425798535346985,
      1.0274286270141602,
      0.0124284029006958
    ],
    [
      0.10023510456085205,
      -0.04296022653579712,
      1.1195508241653442,
      0.9977197647094727,
      -0.05583757162094116,
      -0.07558904588222504,
      0.014273092150688171,
      1.023720622062683,
      -0.024730771780014038
    ],
    [
      0.0990428775548935,
      0.04719004034996033,
      1.035454273223877,
      1.0485506057739258,
      -0.030744656920433044,
      -0.0516490712761879,
      0.0031055528670549393,
      1.084179401397705,
      0.03411594033241272
    ],
    [
      0.18363159894943237,
      -0.022317931056022644,
      0.9875563383102417,
      0.9695990085601807,
      0.02742236852645874,
      -0.06816740334033966,
      -0.026920944452285767,
      1.0165114402770996,
      -0.006480269134044647
    ],
    [
      0.1489933729171753,
      0.010654207319021225,
      0.9851521849632263,
      1.006519079208374,
      -0.06747135519981384,
      -0.07406698167324066,
      0.06726109981536865,
      1.0085840225219727,
      0.027757495641708374
    ],
    [
      0.13006925582885742,
      0.029765993356704712,
      1.0499398708343506,
      1.0703331232070923,
      -0.014614774845540524,
      -0.03657462075352669,
      0.06404685974121094,
      0.9599027633666992,
      -0.014807313680648804
    ],
    [
      0.1508059799671173,
      0.032676249742507935,
      1.0083245038986206,
      0.9963503479957581,
      -0.0070220306515693665,
      -0.06628589332103729,
      0.06477618217468262,
      1.0072726011276245,
      -0.007128316909074783
    ],
    [
      0.11251222342252731,
      -0.0026700645685195923,
      1.0918068885803223,
      1.0276920795440674,
      -0.03953169286251068,
      -0.0927085280418396,
      0.019856765866279602,
      0.9975546598434448,
      0.004296505823731422
    ],
    [
      0.13503776490688324,
      -0.0022014454007148743,
      1.1109027862548828,
      0.9730671048164368,
      0.031084954738616943,
      -0.021330691874027252,
      -0.035146862268447876,
      1.1298999786376953,
      0.026377543807029724
    ],
    [
      0.20373189449310303,
      0.0066124312579631805,
      1.0865638256072998,
      0.951166033744812,
      -0.022680997848510742,
      -0.0717519223690033,
      -0.017153583467006683,
      0.947241485118866,
      0.06100693345069885
    ],
    [
      0.12869884073734283,
      0.0009192153811454773,
      1.1064804792404175,
      0.9902001619338989,
      -0.03608040511608124,
      -0.03935205936431885,
      0.02843669056892395,
      1.0206758975982666,
      0.022822603583335876
    ],
    [
      0.05427470803260803,
      -0.00707852840423584,
      1.1810686588287354,
      0.9920096397399902,
      0.015142932534217834,
      -0.047295693308115005,
      0.03290848433971405,
      0.9424457550048828,
      -0.012523934245109558
    ],
    [
      0.12798452377319336,
      0.00911194272339344,
      1.0834853649139404,
      0.9739716649055481,
      -0.07137984037399292,
      -0.026688896119594574,
      0.04823383688926697,
      1.0036730766296387,
      -0.014016598463058472
    ],
    [
      0.10942955315113068,
      0.031042322516441345,
      1.1583876609802246,
      0.9817203879356384,
      -0.011942118406295776,
      -0.043164484202861786,
      -0.02978423237800598,
      1.04923677444458,
      -0.056136518716812134
    ],
    [
      0.10907559096813202,
      -0.0026908516883850098,
      1.0988688468933105,
      1.0609620809555054,
      0.07384312152862549,
      0.024690091609954834,
      0.008226443082094193,
      1.081573724746704,
      0.014119073748588562
    ],
    [
      0.031764477491378784,
      0.013917614705860615,
      1.1128538846969604,
      0.9848617911338806,
      -0.015249735675752163,
      -0.03202739357948303,
      -0.015041425824165344,
      1.0215630531311035,
      0.033230751752853394
    ],
    [
      0.12878119945526123,
      0.023490235209465027,
      1.1582074165344238,
      1.0055062770843506,
      -0.04619118571281433,
      -0.05664844810962677,
      -0.017391160130500793,
      0.9662125706672668,
      0.03224971890449524
    ],
    [
      0.12120363116264343,
      -0.04378873109817505,
      1.182194471359253,
      1.009393572807312,
      -0.0335625559091568,
      0.00684395432472229,
      -0.005338199436664581,
      1.0869426727294922,
      0.03969764709472656
    ],
    [
      0.05638664960861206,
      -0.03647586703300476,
      1.2009563446044922,
      0.9984641075134277,
      -0.05453255772590637,
      -0.0372387133538723,
      0.0403997004032135,
      0.9810760617256165,
      0.04043358564376831
    ],
    [
      0.011728793382644653,
      0.027970075607299805,
      1.1322298049926758,
      1.0198390483856201,
      -0.0455511212348938,
      -0.006279349327087402,
      0.010412359610199928,
      1.0186899900436401,
      -0.026677101850509644
    ],
    [
      0.053032226860523224,
      -0.04712134599685669,
      1.1237342357635498,
      0.9611762762069702,
      -0.021937359124422073,
      0.018652111291885376,
      -0.016917169094085693,
      1.0234456062316895,
      0.048842430114746094
    ],
    [
      0.08784544467926025,
      -0.025047630071640015,
      1.2723655700683594,
      1.0370999574661255,
      -0.07394164800643921,
      -0.044928669929504395,
      -0.043362945318222046,
      0.9763723015785217,
      -0.02699899673461914
    ],
    [
      -0.009237855672836304,
      0.03177258372306824,
      1.3164576292037964,
      1.0414162874221802,
      -0.07275909185409546,
      -0.061671167612075806,
      0.0015474595129489899,
      1.032768726348877,
      0.005709396675229073
    ],
    [
      0.05477365851402283,
      0.012895097956061363,
      1.2975010871887207,
      1.0040152072906494,
      0.03407350182533264,
      -0.05409081280231476,
      0.029324442148208618,
      0.9713408946990967,
      -0.015376955270767212
    ],
    [
      0.02794671058654785,
      0.06096711754798889,
      1.3625465631484985,
      1.0257132053375244,
      -0.0661202073097229,
      -0.060118913650512695,
      0.01601516455411911,
      0.9891493916511536,
      -0.007037729024887085
    ],
    [
      -0.0049686431884765625,
      0.021519839763641357,
      1.3200123310089111,
      0.9469268321990967,
      -0.029946185648441315,
      -0.061565935611724854,
      0.01981288194656372,
      1.026505947113037,
      0.022090449929237366
    ],
    [
      0.047706544399261475,
      0.04660728573799133,
      1.3682596683502197,
      0.9749968647956848,
      -0.06939545273780823,
      -0.005478903651237488,
      0.06134665012359619,
      0.9848971962928772,
      0.004333950579166412
    ],
    [
      0.03102855384349823,
      0.003251001238822937,
      1.4478474855422974,
      0.9742774963378906,
      -0.03383569419384003,
      -0.02746567875146866,
      0.02350945770740509,
      1.0158922672271729,
      -0.03130576014518738
    ],
    [
      0.05813401937484741,
      0.0125759057700634,
      1.4482089281082153,
      1.0439938306808472,
      0.05200397968292236,
      0.005969449877738953,
      0.0027684755623340607,
      0.9825729727745056,
      0.01648828387260437
    ],
    [
      -0.0089106485247612,
      0.024400830268859863,
      1.4145373106002808,
      1.0210087299346924,
      -0.09587275981903076,
      -0.009322216734290123,
      0.018595583736896515,
      1.0009500980377197,
      0.031541064381599426
    ],
    [
      0.016475535929203033,
      0.00021431595087051392,
      1.4626590013504028,
      0.998957097530365,
      0.018983498215675354,
      -0.045883119106292725,
      0.0337342768907547,
      1.0978525876998901,
      0.019673556089401245
    ],
    [
      -0.036137282848358154,
      -0.007708325982093811,
      1.4744925498962402,
      1.0073951482772827,
      -0.013876121491193771,
      0.016109943389892578,
      0.008133228868246078,
      0.9977384805679321,
      -0.021755725145339966
    ],
    [
      -0.03884613513946533,
      -0.06246161460876465,
      1.5229177474975586,
      0.9727920889854431,
      0.032630473375320435,
      -0.01720132678747177,
      -0.01759961247444153,
      1.009096622467041,
      0.04174342751502991
    ],
    [
      -0.006744686514139175,
      -0.026827126741409302,
      1.4614980220794678,
      0.9892110824584961,
      -0.0867668092250824,
      0.012920737266540527,
      -0.05401039123535156,
      1.0108506679534912,
      -0.009190022945404053
    ],
    [
      -0.073823481798172,
      0.03360071778297424,
      1.548876166343689,
      0.992531418800354,
      -0.013758067041635513,
      -0.06328955292701721,
      -0.050108402967453,
      1.0183138847351074,
      -0.02237868309020996
    ],
    [
      -0.07975953817367554,
      0.006201028823852539,
      1.4995603561401367,
      1.0114961862564087,
      -0.034154221415519714,
      0.06583219766616821,
      0.04064834117889404,
      0.9752056002616882,
      -0.010351963341236115
    ],
    [
      -0.02477230131626129,
      -0.010323986411094666,
      1.6327433586120605,
      0.9934014678001404,
      -0.023765064775943756,
      0.008500143885612488,
      0.022889405488967896,
      0.9481912851333618,
      -0.011290617287158966
    ],
    [
      -0.05678778886795044,
      0.03334859013557434,
      1.5436371564865112,
      0.9216117262840271,
      -0.04614248871803284,
      0.009150288999080658,
      -0.0032990574836730957,
      1.0570346117019653,
      0.007348708808422089
    ],
    [
      -0.011288350448012352,
      -0.03350934386253357,
      1.6283073425292969,
      0.9435537457466125,
      -0.03863242268562317,
      -0.025661557912826538,
      -0.020400390028953552,
      1.0645133256912231,
      0.014078482985496521
    ],
    [
      -0.069125235080719,
      0.053319260478019714,
      1.6039180755615234,
      1.048014521598816,
      -0.017253872007131577,
      0.0021562278270721436,
      0.08208471536636353,
      1.0798635482788086,
      -0.020576387643814087
    ],
    [
      -0.012679237872362137,
      0.0652129054069519,
      1.5671252012252808,
      1.0588984489440918,
      -0.04377758502960205,
      -0.015812575817108154,
      -0.026169881224632263,
      1.025010108947754,
      -0.0748242735862732
    ],
    [
      0.01086987555027008,
      0.05597236752510071,
      1.6437878608703613,
      1.0936434268951416,
      -0.014055110514163971,
      -0.027691349387168884,
      -0.12438446283340454,
      1.0165749788284302,
      0.035496294498443604
    ],
    [
      0.0006901919841766357,
      0.043153002858161926,
      1.6060333251953125,
      1.038730263710022,
      -0.08321201801300049,
      0.02608250081539154,
      0.018437214195728302,
      1.1159051656723022,
      0.05883333086967468
    ],
    [
      -0.006728820502758026,
      0.05351740121841431,
      1.6550605297088623,
      0.9489508867263794,
      -0.04436221718788147,
      -0.034510985016822815,
      0.015057206153869629,
      0.9887169003486633,
      -0.02340702712535858
    ],
    [
      -0.026852332055568695,
      0.03303128480911255,
      1.637021780014038,
      0.9822630286216736,
      0.062065958976745605,
      0.013584144413471222,
      -0.014878742396831512,
      0.9946336150169373,
      0.03628125786781311
    ],
    [
      -0.040788352489471436,
      0.026913568377494812,
      1.7084579467773438,
      1.0035864114761353,
      -0.006568185985088348,
      0.037571728229522705,
      0.023859664797782898,
      1.0393028259277344,
      -0.026828676462173462
    ],
    [
      0.023405075073242188,
      0.037857502698898315,
      1.5682668685913086,
      0.9750896692276001,
      0.009421169757843018,
      0.06575840711593628,
      -0.04637560248374939,
      1.0138170719146729,
      0.014570996165275574
    ]
  ]
}