{
  "task": "wave-left",
  "instruction": "wave using the left hand",
  "robot_type": "ffw_sg2_rev1",
  "n_demos": 11,
  "joint_names": [
    "arm_l_joint1",
    "arm_l_joint2",
    "arm_l_joint3",
    "arm_l_joint4",
    "arm_l_joint5",
    "arm_l_joint6",
    "arm_l_joint7",
    "gripper_l_joint1",
    "arm_r_joint1",
    "arm_r_joint2",
    "arm_r_joint3",
    "arm_r_joint4",
    "arm_r_joint5",
    "arm_r_joint6",
    "arm_r_joint7",
    "gripper_r_joint1",
    "head_joint1",
    "head_joint2",
    "lift_joint",
    "linear_x",
    "linear_y",
    "angular_z"
  ],
  "initial_state_mean": [
    -0.12690000236034393,
    0.12439999729394913,
    -0.0027000000700354576,
    -1.5908000469207764,
    0.13289999961853027,
    0.06459999829530716,
    -0.07119999825954437,
    0.16040000319480896,
    -0.20180000364780426,
    -0.03750000149011612,
    0.0632999986410141,
    -1.4002000093460083,
    -0.041200000792741776,
    0.05820000171661377,
    -0.08110000193119049,
    0.11069999635219574,
    -0.018300000578165054,
    -0.030799999833106995,
    -0.0008999999845400453,
    0.0,
    0.0,
    0.0
  ],
  "initial_state_std": [
    0.07490000128746033,
    0.01769999973475933,
    0.0560000017285347,
    0.08630000054836273,
    0.058400001376867294,
    0.059300001710653305,
    0.04520000144839287,
    0.04390000179409981,
    0.05950000137090683,
    0.016200000420212746,
    0.03449999913573265,
    0.09189999848604202,
    0.039500001817941666,
    0.05860000103712082,
    0.03610000014305115,
    0.007400000002235174,
    0.05779999867081642,
    0.09260000288486481,
    0.0010999999940395355,
    9.999999747378752e-05,
    0.0,
    0.00019999999494757503
  ],
  "initial_state_min": [
    -0.23669999837875366,
    0.09529999643564224,
    -0.09440000355243683,
    -1.7922999858856201,
    0.056699998676776886,
    -0.023399999365210533,
    -0.17030000686645508,
    0.11349999904632568,
    -0.2777000069618225,
    -0.06279999762773514,
    0.008299999870359898,
    -1.6418999433517456,
    -0.11050000041723251,
    -0.016899999231100082,
    -0.15770000219345093,
    0.0982000008225441,
    -0.20100000500679016,
    -0.3237000107765198,
    -0.003599999938160181,
    -0.00019999999494757503,
    -0.0,
    -0.0003000000142492354
  ],
  "initial_state_max": [
    0.039799999445676804,
    0.16099999845027924,
    0.07859999686479568,
    -1.4788000583648682,
    0.27649998664855957,
    0.15940000116825104,
    -0.009200000204145908,
    0.24699999392032623,
    -0.057500001043081284,
    -0.0026000000070780516,
    0.1088000014424324,
    -1.2898000478744507,
    0.023399999365210533,
    0.19930000603199005,
    -0.02759999968111515,
    0.11659999936819077,
    -0.0,
    -0.001500000013038516,
    0.0,
    0.00019999999494757503,
    0.0,
    0.0005000000237487257
  ],
  "final_state_mean": [
    -0.17139999568462372,
    0.11469999700784683,
    -0.025699999183416367,
    -1.5436999797821045,
    0.09600000083446503,
    0.051899999380111694,
    -0.0754999965429306,
    0.1469999998807907,
    -0.26249998807907104,
    -0.03620000183582306,
    0.08330000191926956,
    -1.3252999782562256,
    -0.0494999997317791,
    0.06360000371932983,
    -0.06449999660253525,
    0.11110000312328339,
    -0.018300000578165054,
    -0.030799999833106995,
    -0.0010000000474974513,
    -0.0,
    0.0,
    0.0
  ]
}