{
  "unitree_g1_sonic": {
    "state": {
      "left_leg": {
        "min": [
          -0.4857776165008545,
          -0.24391146004199982,
          -0.8776780366897583,
          0.03597185015678406,
          -0.4930363595485687,
          -0.20340518653392792
        ],
        "max": [
          0.2887633442878723,
          0.31727835536003113,
          0.7570706605911255,
          0.8854392766952515,
          0.1892659068107605,
          0.15561887621879578
        ],
        "mean": [
          0.03709593042731285,
          0.017334647476673126,
          0.10126602649688721,
          0.21372011303901672,
          -0.19937776029109955,
          -0.009935487061738968
        ],
        "std": [
          0.12473253160715103,
          0.06594803929328918,
          0.16698330640792847,
          0.08503254503011703,
          0.054379407316446304,
          0.04406041279435158
        ],
        "q01": [
          -0.34423858046531675,
          -0.14141905188560486,
          -0.4198744976520538,
          0.12339614242315293,
          -0.2891655659675598,
          -0.11299800157546996
        ],
        "q99": [
          0.1865586566925049,
          0.17292326152324677,
          0.4432717561721802,
          0.5340901875495913,
          -0.01812098965048773,
          0.09286320090293888
        ]
      },
      "right_leg": {
        "min": [
          -0.40723779797554016,
          -0.30062612891197205,
          -1.3307929039001465,
          0.07445771992206573,
          -0.5606564879417419,
          -0.1984633058309555
        ],
        "max": [
          0.25397607684135437,
          0.15654273331165314,
          0.24837948381900787,
          0.9999935626983643,
          0.10241366177797318,
          0.1306799054145813
        ],
        "mean": [
          0.05326543375849724,
          -0.025633497163653374,
          -0.21512727439403534,
          0.207839697599411,
          -0.19957764446735382,
          -0.003420396940782666
        ],
        "std": [
          0.07712754607200623,
          0.0601215623319149,
          0.18328991532325745,
          0.0994856134057045,
          0.06609486788511276,
          0.04335305467247963
        ],
        "q01": [
          -0.19365620791912078,
          -0.1937438142299652,
          -0.9012520694732666,
          0.12708178162574768,
          -0.43179439902305605,
          -0.11342300474643707
        ],
        "q99": [
          0.19940897822380066,
          0.11470767110586166,
          0.14574560344219212,
          0.7404617261886605,
          -0.08023603171110152,
          0.0866367721557618
        ]
      },
      "waist": {
        "min": [
          -0.3889274299144745,
          -0.3032904267311096,
          -0.03526151925325394
        ],
        "max": [
          0.4404728412628174,
          0.11908156424760818,
          0.05046159774065018
        ],
        "mean": [
          0.09945842623710632,
          -0.03563961386680603,
          -0.00033498145057819784
        ],
        "std": [
          0.1114959642291069,
          0.04506837949156761,
          0.007683659438043833
        ],
        "q01": [
          -0.09960892051458359,
          -0.16775038778781892,
          -0.019175979271531106
        ],
        "q99": [
          0.3722357642650606,
          0.042387988269329074,
          0.024506188780069386
        ]
      },
      "left_arm": {
        "min": [
          -0.2003283053636551,
          0.09816279262304306,
          -0.5412195920944214,
          0.7723593711853027,
          -0.7412483096122742,
          -0.09287774562835693,
          -0.31815722584724426
        ],
        "max": [
          0.4134317934513092,
          0.38915175199508667,
          0.3470511734485626,
          1.363792896270752,
          0.38266828656196594,
          0.5152138471603394,
          0.42312705516815186
        ],
        "mean": [
          0.17440484464168549,
          0.21054533123970032,
          0.032854851335287094,
          1.0895949602127075,
          -0.11395763605833054,
          0.20216572284698486,
          0.011326363310217857
        ],
        "std": [
          0.09000273048877716,
          0.04009358212351799,
          0.09271923452615738,
          0.0719800963997837,
          0.1966457962989807,
          0.11650487035512924,
          0.10442934930324554
        ],
        "q01": [
          -0.06558151662349701,
          0.13350427150726318,
          -0.20625522315502168,
          0.8954852747917176,
          -0.5607327961921692,
          -0.05204461485147476,
          -0.23472590863704682
        ],
        "q99": [
          0.3320828676223755,
          0.31760211229324387,
          0.23645307958126077,
          1.2605007886886597,
          0.29088112711906433,
          0.4681393218040469,
          0.27189282655715985
        ]
      },
      "right_arm": {
        "min": [
          -0.9314020276069641,
          -0.7953690886497498,
          -0.49778875708580017,
          -0.7156979441642761,
          -0.9786917567253113,
          -0.1273084282875061,
          -0.9962846040725708
        ],
        "max": [
          0.3628104329109192,
          0.07754991948604584,
          0.8718883395195007,
          1.3758729696273804,
          1.0651459693908691,
          0.6250013113021851,
          0.9581388235092163
        ],
        "mean": [
          -0.13906176388263702,
          -0.203518807888031,
          0.16250377893447876,
          0.3269632160663605,
          0.15917158126831055,
          0.20837940275669098,
          0.0921417772769928
        ],
        "std": [
          0.281828910112381,
          0.07468900084495544,
          0.18738719820976257,
          0.6238588690757751,
          0.21029023826122284,
          0.12883725762367249,
          0.2203560620546341
        ],
        "q01": [
          -0.7701197338104248,
          -0.3844673705101013,
          -0.2184901690483093,
          -0.5404818391799927,
          -0.3923635482788086,
          -0.0465836426615715,
          -0.36222128629684447
        ],
        "q99": [
          0.2503907299041749,
          0.0012238291278481798,
          0.5864720344543457,
          1.3040913009643558,
          0.5952301049232496,
          0.5132987618446353,
          0.6925142097473146
        ]
      },
      "left_hand": {
        "min": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "max": [
          0.0,
          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,
          0.0
        ],
        "std": [
          0.0,
          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,
          0.0
        ],
        "q99": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "right_hand": {
        "min": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "max": [
          0.0,
          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,
          0.0
        ],
        "std": [
          0.0,
          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,
          0.0
        ],
        "q99": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "projected_gravity": {
        "min": [
          -0.12354099005460739,
          -0.13017292320728302,
          -1.0
        ],
        "max": [
          0.22223307192325592,
          0.10705921798944473,
          -0.9749471545219421
        ],
        "mean": [
          -0.01829414628446102,
          0.002673766575753689,
          -0.9988483190536499
        ],
        "std": [
          0.035847291350364685,
          0.03194916248321533,
          0.0014168791240174116
        ],
        "q01": [
          -0.09324856609106064,
          -0.08918023109436035,
          -0.9999811720848083
        ],
        "q99": [
          0.06776312530040744,
          0.060245763361454124,
          -0.9940099501609803
        ]
      }
    },
    "action": {
      "motion_token": {
        "min": [
          -0.3125,
          -0.5,
          -0.5,
          -0.4375,
          -0.625,
          -0.375,
          -0.25,
          -0.0625,
          -0.4375,
          -0.6875,
          -0.375,
          -0.375,
          -0.3125,
          -0.375,
          -0.6875,
          -0.25,
          -0.375,
          -0.25,
          -0.375,
          -0.5,
          -0.5,
          -0.5,
          -0.625,
          -0.5,
          -0.3125,
          -0.5625,
          -0.125,
          -0.5,
          -0.3125,
          -0.3125,
          -0.125,
          -0.375,
          0.0625,
          -0.1875,
          -0.1875,
          -0.5625,
          -0.625,
          -0.6875,
          -0.125,
          -0.125,
          -0.4375,
          -0.5625,
          -0.3125,
          -0.375,
          -0.5,
          -0.4375,
          -0.125,
          -0.3125,
          -0.5,
          -0.25,
          -0.375,
          -0.625,
          -0.0625,
          -0.4375,
          -0.0625,
          -0.4375,
          -0.5,
          0.0,
          -0.25,
          -0.5,
          -0.375,
          -0.1875,
          0.0,
          -0.5
        ],
        "max": [
          0.125,
          0.25,
          0.25,
          0.125,
          0.1875,
          0.1875,
          0.5,
          0.4375,
          0.25,
          0.125,
          0.1875,
          0.0625,
          0.125,
          0.3125,
          -0.0625,
          0.1875,
          0.25,
          0.25,
          0.125,
          0.0625,
          0.3125,
          0.125,
          0.25,
          0.25,
          0.3125,
          0.125,
          0.375,
          0.1875,
          0.375,
          0.375,
          0.375,
          0.25,
          0.4375,
          0.5,
          0.5,
          0.5625,
          0.25,
          -0.0625,
          0.3125,
          0.4375,
          0.125,
          0.4375,
          0.4375,
          0.375,
          -0.0625,
          0.1875,
          0.5625,
          0.1875,
          0.3125,
          0.1875,
          0.25,
          0.1875,
          0.375,
          0.3125,
          0.5625,
          0.1875,
          0.4375,
          0.5625,
          0.1875,
          0.375,
          0.3125,
          0.4375,
          0.5625,
          0.0
        ],
        "mean": [
          -0.05909007787704468,
          -0.12453675270080566,
          -0.01780678704380989,
          -0.16097033023834229,
          -0.18779605627059937,
          -0.08800307661294937,
          0.25408294796943665,
          0.19637517631053925,
          -0.02542746439576149,
          -0.21233749389648438,
          -0.10003577917814255,
          -0.2185034602880478,
          -0.12148252129554749,
          -0.0835186317563057,
          -0.3871306777000427,
          -0.000689013279043138,
          -0.05048113688826561,
          -0.05405506119132042,
          -0.09686227142810822,
          -0.29744818806648254,
          -0.02790983021259308,
          -0.22964908182621002,
          -0.19564782083034515,
          -0.233476459980011,
          -0.09457159787416458,
          -0.1688774675130844,
          0.12882205843925476,
          -0.23097918927669525,
          0.07296938449144363,
          0.06667029112577438,
          0.14194951951503754,
          -0.11792350560426712,
          0.2987644672393799,
          0.1758815497159958,
          0.14483655989170074,
          0.07765190303325653,
          -0.1703023612499237,
          -0.31876927614212036,
          0.11987659335136414,
          0.13128630816936493,
          -0.08386579900979996,
          -0.09540224820375443,
          0.058435142040252686,
          -0.006829431280493736,
          -0.31632739305496216,
          -0.023000476881861687,
          0.21785704791545868,
          -0.10807923972606659,
          -0.01691969484090805,
          -0.0048369369469583035,
          -0.06753820925951004,
          -0.14284193515777588,
          0.2129189521074295,
          0.015633253380656242,
          0.22632861137390137,
          -0.14845414459705353,
          0.029541311785578728,
          0.29734915494918823,
          -0.022820502519607544,
          -0.14013485610485077,
          0.034568872302770615,
          0.0991114154458046,
          0.30694955587387085,
          -0.22556506097316742
        ],
        "std": [
          0.0659003034234047,
          0.10037083178758621,
          0.07181278616189957,
          0.08773662894964218,
          0.17245645821094513,
          0.0585007518529892,
          0.09713392704725266,
          0.07830599695444107,
          0.1365525871515274,
          0.15700660645961761,
          0.09677070379257202,
          0.0688071995973587,
          0.05875665321946144,
          0.11583787202835083,
          0.11943700164556503,
          0.08188900351524353,
          0.06468821316957474,
          0.06906170397996902,
          0.09798441082239151,
          0.107750304043293,
          0.19952501356601715,
          0.1263345628976822,
          0.21770258247852325,
          0.14369164407253265,
          0.08769412338733673,
          0.1116272583603859,
          0.058447372168302536,
          0.18122409284114838,
          0.06928596645593643,
          0.16142737865447998,
          0.11108831316232681,
          0.06649158895015717,
          0.07022565603256226,
          0.10431908816099167,
          0.12881824374198914,
          0.32292255759239197,
          0.14586171507835388,
          0.08622725307941437,
          0.08811167627573013,
          0.06192754954099655,
          0.07485736161470413,
          0.27316814661026,
          0.13828617334365845,
          0.10271976888179779,
          0.06276937574148178,
          0.0647144541144371,
          0.08778728544712067,
          0.06371328979730606,
          0.1188734695315361,
          0.06812839955091476,
          0.09292089939117432,
          0.15349407494068146,
          0.069960817694664,
          0.08846410363912582,
          0.08715438097715378,
          0.07486134022474289,
          0.09785888344049454,
          0.1145324558019638,
          0.06591252237558365,
          0.20452545583248138,
          0.07274971902370453,
          0.09519387036561966,
          0.11427336931228638,
          0.11966678500175476
        ],
        "q01": [
          -0.25,
          -0.375,
          -0.1875,
          -0.375,
          -0.5625,
          -0.1875,
          0.0,
          0.0,
          -0.3125,
          -0.625,
          -0.3125,
          -0.3125,
          -0.25,
          -0.3125,
          -0.625,
          -0.1875,
          -0.25,
          -0.1875,
          -0.3125,
          -0.5,
          -0.375,
          -0.4375,
          -0.5625,
          -0.4375,
          -0.3125,
          -0.5,
          -0.0625,
          -0.5,
          -0.0625,
          -0.1875,
          -0.0625,
          -0.25,
          0.125,
          -0.0625,
          -0.0625,
          -0.5,
          -0.5625,
          -0.5625,
          -0.0625,
          0.0,
          -0.25,
          -0.5625,
          -0.1875,
          -0.25,
          -0.4375,
          -0.1875,
          0.0625,
          -0.25,
          -0.375,
          -0.1875,
          -0.3125,
          -0.5,
          0.0625,
          -0.1875,
          0.0625,
          -0.375,
          -0.375,
          0.0625,
          -0.1875,
          -0.4375,
          -0.1875,
          -0.0625,
          0.125,
          -0.4375
        ],
        "q99": [
          0.125,
          0.0625,
          0.125,
          0.0625,
          0.125,
          0.0625,
          0.375,
          0.375,
          0.1875,
          0.0625,
          0.0625,
          -0.0625,
          0.0625,
          0.1875,
          -0.125,
          0.1875,
          0.125,
          0.125,
          0.0625,
          -0.0625,
          0.3125,
          0.0,
          0.1875,
          0.125,
          0.0625,
          0.0,
          0.25,
          0.125,
          0.25,
          0.3125,
          0.3125,
          0.125,
          0.375,
          0.4375,
          0.4375,
          0.5,
          0.125,
          -0.125,
          0.25,
          0.25,
          0.0625,
          0.3125,
          0.3125,
          0.25,
          -0.125,
          0.125,
          0.4375,
          0.0,
          0.1875,
          0.125,
          0.125,
          0.125,
          0.375,
          0.1875,
          0.5,
          0.0625,
          0.25,
          0.5,
          0.125,
          0.1875,
          0.25,
          0.3125,
          0.5,
          0.0
        ]
      },
      "left_hand_joints": {
        "min": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "max": [
          0.0,
          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,
          0.0
        ],
        "std": [
          0.0,
          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,
          0.0
        ],
        "q99": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "right_hand_joints": {
        "min": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "max": [
          0.0,
          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,
          0.0
        ],
        "std": [
          0.0,
          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,
          0.0
        ],
        "q99": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ]
      }
    },
    "relative_action": {}
  }
}