{
  "data": [
    [
      -0.0302734375,
      -0.01025390625,
      -0.0390625,
      1.0,
      -0.001220703125,
      -0.0146484375,
      -0.013671875,
      0.9921875,
      -0.03125
    ],
    [
      -0.01373291015625,
      -0.0126953125,
      0.017578125,
      0.984375,
      -0.015625,
      0.0013427734375,
      0.0068359375,
      1.0,
      -0.017578125
    ],
    [
      -0.03515625,
      -0.0068359375,
      -0.0205078125,
      1.046875,
      -0.025390625,
      0.025390625,
      -0.046875,
      0.9921875,
      0.00244140625
    ],
    [
      -0.015625,
      -0.02734375,
      -0.0380859375,
      0.9921875,
      0.01123046875,
      0.007080078125,
      -0.033203125,
      1.0,
      -0.015625
    ],
    [
      -0.00830078125,
      0.013671875,
      -0.019775390625,
      1.0,
      -0.0234375,
      0.025390625,
      0.013671875,
      1.0078125,
      0.0029296875
    ],
    [
      0.01171875,
      0.009765625,
      -0.007080078125,
      1.0234375,
      -0.001708984375,
      -0.0048828125,
      0.0087890625,
      1.0546875,
      0.0126953125
    ],
    [
      -0.010986328125,
      -0.000732421875,
      -0.0390625,
      0.9921875,
      -0.0068359375,
      -0.00732421875,
      -0.021484375,
      1.0234375,
      -0.01318359375
    ],
    [
      0.015625,
      -0.021484375,
      -0.001953125,
      1.0234375,
      0.005859375,
      -0.0126953125,
      0.021484375,
      1.0,
      -0.00726318359375
    ],
    [
      -0.025390625,
      -0.0009765625,
      -0.01171875,
      1.03125,
      -0.009765625,
      -0.01171875,
      0.02734375,
      1.0546875,
      0.009765625
    ],
    [
      -0.0205078125,
      -0.02734375,
      -0.027099609375,
      0.9765625,
      0.0087890625,
      -0.000244140625,
      0.0029296875,
      0.9921875,
      -0.029296875
    ],
    [
      0.01953125,
      0.0078125,
      -0.015380859375,
      0.9765625,
      -0.0078125,
      0.0009765625,
      0.025390625,
      1.015625,
      0.025390625
    ],
    [
      -0.00244140625,
      -0.05078125,
      -0.0174560546875,
      1.0390625,
      0.0126953125,
      -0.021484375,
      -0.0185546875,
      1.0390625,
      -0.033203125
    ],
    [
      -0.021484375,
      -0.0078125,
      -0.0216064453125,
      1.0234375,
      0.0234375,
      0.002685546875,
      -0.0205078125,
      1.0234375,
      -0.008056640625
    ],
    [
      -0.00146484375,
      0.01953125,
      -0.04296875,
      0.9921875,
      0.009765625,
      0.0166015625,
      -0.00830078125,
      1.0234375,
      0.009765625
    ],
    [
      -0.0625,
      0.021484375,
      -0.00634765625,
      1.015625,
      -0.013671875,
      -0.00244140625,
      0.017578125,
      1.0234375,
      -0.021484375
    ],
    [
      -0.01171875,
      -0.00146484375,
      -0.01953125,
      1.015625,
      -0.009765625,
      -0.00537109375,
      0.017578125,
      1.0234375,
      -0.0234375
    ],
    [
      -0.02734375,
      -0.0107421875,
      0.008544921875,
      1.0234375,
      0.002685546875,
      0.0146484375,
      -0.0068359375,
      1.0234375,
      0.01171875
    ],
    [
      -0.0081787109375,
      -0.0126953125,
      0.005859375,
      1.0,
      -0.0078125,
      -0.0107421875,
      -0.0107421875,
      1.0234375,
      -0.017578125
    ],
    [
      0.0009765625,
      -0.0126953125,
      0.04345703125,
      0.9765625,
      -0.04296875,
      -0.01953125,
      -0.00390625,
      0.99609375,
      -0.017578125
    ],
    [
      0.009765625,
      0.003570556640625,
      0.03125,
      1.046875,
      0.01025390625,
      0.0,
      -0.037109375,
      1.0390625,
      -0.007659912109375
    ],
    [
      -0.0244140625,
      -0.017578125,
      0.0537109375,
      1.0546875,
      0.02734375,
      -0.0166015625,
      -0.015625,
      1.03125,
      0.0048828125
    ],
    [
      -0.03515625,
      0.037109375,
      0.048828125,
      0.98828125,
      -0.017578125,
      -0.03125,
      -0.029296875,
      0.96875,
      -0.0263671875
    ],
    [
      -0.0087890625,
      -0.03125,
      0.0654296875,
      1.0078125,
      0.0390625,
      -0.015625,
      -0.017578125,
      0.98828125,
      -0.0390625
    ],
    [
      -0.046875,
      0.029296875,
      0.08154296875,
      1.015625,
      -0.0166015625,
      0.0234375,
      0.0048828125,
      1.0,
      -0.0107421875
    ],
    [
      -0.033203125,
      -0.0048828125,
      0.095703125,
      1.0390625,
      -0.0068359375,
      -0.021484375,
      0.00048828125,
      1.046875,
      -0.0166015625
    ],
    [
      -0.0125732421875,
      0.033203125,
      0.103515625,
      0.9921875,
      -0.013671875,
      0.001953125,
      0.00048828125,
      1.0390625,
      -0.010986328125
    ],
    [
      -0.01708984375,
      -0.0087890625,
      0.134765625,
      1.03125,
      0.001708984375,
      0.0078125,
      0.015625,
      1.0234375,
      -0.01220703125
    ],
    [
      -0.0029296875,
      -0.0087890625,
      0.140625,
      1.0,
      -0.0068359375,
      -0.01953125,
      -0.0068359375,
      1.015625,
      -0.005126953125
    ],
    [
      -0.00537109375,
      -0.0068359375,
      0.154296875,
      0.9765625,
      -0.0009765625,
      0.013671875,
      -0.033203125,
      1.0078125,
      0.0087890625
    ],
    [
      -0.01055908203125,
      -0.0234375,
      0.1650390625,
      1.015625,
      -0.005859375,
      0.03515625,
      0.003662109375,
      1.0078125,
      -0.01025390625
    ],
    [
      -0.006591796875,
      0.00299072265625,
      0.1318359375,
      0.98046875,
      0.03125,
      -0.037109375,
      -0.033203125,
      0.99609375,
      -0.001953125
    ],
    [
      -0.025390625,
      -0.029296875,
      0.1640625,
      1.0234375,
      -0.005859375,
      0.0068359375,
      -0.00341796875,
      1.0,
      -0.006622314453125
    ],
    [
      0.0234375,
      -0.02734375,
      0.18359375,
      1.0,
      0.021484375,
      -0.0107421875,
      -0.029296875,
      1.0,
      -0.03125
    ],
    [
      0.0048828125,
      0.00634765625,
      0.2021484375,
      0.9765625,
      -0.0029296875,
      -0.0146484375,
      -0.01171875,
      1.0234375,
      -0.01513671875
    ],
    [
      -0.00048828125,
      0.0042724609375,
      0.1630859375,
      1.0078125,
      0.00830078125,
      -0.00830078125,
      -0.0126953125,
      1.0,
      -0.01123046875
    ],
    [
      -0.0078125,
      0.0068359375,
      0.20703125,
      1.0078125,
      0.01171875,
      -0.0166015625,
      0.02734375,
      1.015625,
      -0.015625
    ],
    [
      0.0087890625,
      -0.005859375,
      0.21875,
      1.03125,
      0.013671875,
      -0.0079345703125,
      -0.0078125,
      1.0625,
      -0.025390625
    ],
    [
      0.00634765625,
      -0.005859375,
      0.236328125,
      1.0,
      -0.00341796875,
      0.01953125,
      0.0107421875,
      1.0,
      -0.0107421875
    ],
    [
      0.0185546875,
      -0.005859375,
      0.197265625,
      1.015625,
      -0.00634765625,
      -0.01123046875,
      -0.0107421875,
      1.0,
      -0.025390625
    ],
    [
      0.013671875,
      0.000732421875,
      0.224609375,
      0.9765625,
      0.003662109375,
      -0.037109375,
      0.00537109375,
      0.9609375,
      -0.033203125
    ],
    [
      0.029296875,
      0.0,
      0.2138671875,
      1.0078125,
      -0.017578125,
      0.00390625,
      0.029296875,
      0.96875,
      -0.04296875
    ],
    [
      -0.0068359375,
      -0.009765625,
      0.216796875,
      1.0078125,
      -0.03125,
      -0.00390625,
      0.0146484375,
      1.0078125,
      -0.01025390625
    ],
    [
      -0.017578125,
      0.0078125,
      0.2255859375,
      1.0,
      -0.001953125,
      -0.0224609375,
      -0.005859375,
      1.0,
      -0.003662109375
    ],
    [
      -0.001953125,
      -0.001220703125,
      0.28125,
      0.984375,
      0.0029296875,
      0.00390625,
      0.001708984375,
      0.99609375,
      -0.010009765625
    ],
    [
      0.0113525390625,
      -0.017578125,
      0.26171875,
      0.984375,
      0.029296875,
      0.017578125,
      -0.05078125,
      1.015625,
      -0.0205078125
    ],
    [
      -0.005859375,
      0.029296875,
      0.287109375,
      1.015625,
      0.03515625,
      -0.016845703125,
      -0.01953125,
      1.0078125,
      -0.04296875
    ],
    [
      0.007080078125,
      -0.0078125,
      0.296875,
      1.015625,
      0.009765625,
      -0.03515625,
      -0.00054931640625,
      1.0078125,
      0.013671875
    ],
    [
      0.00634765625,
      0.0087890625,
      0.33203125,
      1.03125,
      0.001708984375,
      0.015625,
      -0.015625,
      1.03125,
      0.00439453125
    ],
    [
      0.00830078125,
      -0.00146484375,
      0.33203125,
      1.0390625,
      0.01318359375,
      -0.01953125,
      -0.021484375,
      1.046875,
      -0.0224609375
    ],
    [
      0.015869140625,
      -0.0107421875,
      0.30859375,
      1.0078125,
      -0.0068359375,
      -0.00341796875,
      -0.005859375,
      1.015625,
      0.00341796875
    ],
    [
      -0.00390625,
      0.046875,
      0.3203125,
      0.9921875,
      -0.01171875,
      -0.01953125,
      0.0029296875,
      0.9921875,
      -0.03125
    ],
    [
      0.00634765625,
      -0.0126953125,
      0.33203125,
      0.99609375,
      0.017578125,
      -0.015625,
      0.002685546875,
      0.984375,
      -0.0166015625
    ],
    [
      0.001953125,
      0.01611328125,
      0.380859375,
      1.0546875,
      0.0098876953125,
      -0.05859375,
      0.02734375,
      1.046875,
      -0.00927734375
    ],
    [
      0.00732421875,
      0.001220703125,
      0.375,
      1.03125,
      -0.000244140625,
      0.021484375,
      -0.0048828125,
      1.015625,
      -0.0205078125
    ],
    [
      0.00439453125,
      -0.017578125,
      0.4140625,
      1.03125,
      0.0047607421875,
      -0.012451171875,
      -0.00732421875,
      1.015625,
      0.0126953125
    ],
    [
      0.0107421875,
      -0.02734375,
      0.396484375,
      1.0234375,
      -0.0146484375,
      -0.025390625,
      -0.029296875,
      0.9765625,
      -0.025390625
    ],
    [
      0.0048828125,
      -0.00390625,
      0.40234375,
      1.015625,
      0.013671875,
      -0.0234375,
      0.0068359375,
      1.0,
      -0.03125
    ],
    [
      0.0147705078125,
      0.0390625,
      0.43359375,
      0.97265625,
      0.00311279296875,
      0.009765625,
      0.00732421875,
      1.015625,
      0.00341796875
    ],
    [
      -0.001953125,
      -0.0068359375,
      0.453125,
      1.0234375,
      -0.000244140625,
      0.021484375,
      -0.01171875,
      1.0234375,
      -0.0146484375
    ],
    [
      0.01025390625,
      0.0166015625,
      0.453125,
      1.0078125,
      0.029296875,
      -0.01220703125,
      0.0166015625,
      1.0078125,
      -0.021484375
    ]
  ],
  "shape": [
    60,
    9
  ],
  "dtype": "torch.bfloat16",
  "raw_action_dim": 9,
  "action_mode": "inverse_dynamics",
  "domain_id": 1
}