{
  "adapter_constants": {
    "our_gripper_deg": [
      0.0,
      41.69
    ],
    "sim_gripper_deg": [
      -10.0,
      120.0
    ],
    "arm_joints": "plain deg2rad (manipulator.py precedent, no offsets for SO-101)",
    "rate": "30 Hz -> 10 Hz, subsample every 3rd action"
  },
  "r1_dual_camera": {
    "sensor_shapes": {
      "base_camera": [
        1,
        224,
        224,
        3
      ],
      "third_camera": [
        1,
        224,
        224,
        3
      ]
    },
    "both_224": true
  },
  "r2_determinism_bit_equal": true,
  "r3_replay": {
    "trace": "grasp_demos_v2/merged episode 0 (449 frames @ 30 Hz)",
    "steps_at_10hz": 150,
    "joint_names": [
      "shoulder_pan",
      "shoulder_lift",
      "elbow_flex",
      "wrist_flex",
      "wrist_roll",
      "gripper"
    ],
    "action_space_low": [
      -1.9199,
      -1.7453,
      -1.69,
      -1.6581,
      -2.7438,
      -0.1745
    ],
    "action_space_high": [
      1.9199,
      1.7453,
      1.69,
      1.6581,
      2.8412,
      2.0944
    ],
    "tracking_rad": {
      "p50": 0.002547922380056189,
      "p95": 0.14838190014476668,
      "max": 0.3616761627453562,
      "per_joint_p50": [
        0.0002,
        0.0081,
        0.0113,
        0.0085,
        0.0007
      ]
    },
    "arm_limit_clips": 41,
    "arm_limit_clip_count_per_joint": [
      0,
      3,
      2,
      36,
      0
    ],
    "arm_limit_clip_max_rad_per_joint": [
      0.0,
      0.0471,
      0.003,
      0.0032,
      0.0
    ],
    "gripper_transitions_commanded": 3,
    "gripper_transitions_achieved": 3,
    "wall_s": 0.34,
    "gate_p50_lt_0.05_rad": true,
    "gate_zero_arm_clips": false
  },
  "r4_train_squint_help_rc": 0
}