diff --git a/.gitattributes b/.gitattributes
index 48711dabb7a8681ed1248b7cc903013ff2d4a3ef..1ccb46f58d12b9848c76a18493f31eece5bfb58b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -125,3 +125,27 @@ data/sac/sac_reach_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs
 data/sac/sac_run_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
 data/sac/sac_run_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
 data/sac/sac_run_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sidestep_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sidestep_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sidestep_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_singlelegstance_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_singlelegstance_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_singlelegstance_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sit_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sit_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_sit_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_slidehard_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_slidehard_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_slidehard_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_squat_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_squat_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_squat_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stair_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stair_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stair_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stepping_stones_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stepping_stones_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_stepping_stones_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_walkandsit_checkpoints/eval_Joint_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_walkandsit_checkpoints/eval_Muscle_jitter_report.png filter=lfs diff=lfs merge=lfs -text
+data/sac/sac_walkandsit_checkpoints/eval_sac_best_energy_plot.png filter=lfs diff=lfs merge=lfs -text
diff --git a/data/sac/sac_run_logs/SAC_1/events.out.tfevents.1778651327.discover-01.792745.0 b/data/sac/sac_run_logs/SAC_1/events.out.tfevents.1778651327.discover-01.792745.0
new file mode 100644
index 0000000000000000000000000000000000000000..c7fb45146192075c8d0c37a570a9f673543cb48e
--- /dev/null
+++ b/data/sac/sac_run_logs/SAC_1/events.out.tfevents.1778651327.discover-01.792745.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088dcc29248e88b8d73f8f49370eeba2dd985ba7d40920edb7c3e3729ae75eed
+size 14240015
diff --git a/data/sac/sac_sidestep_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_sidestep_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d36766311898091d968d51c8be239648502eec79
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,31.808716,236642.27,2696878300.0,146107.2,34431.99
+Muscle_Actions_1,11.182529,74670.71,1812508400.0,133010.16,27222.264
+Muscle_Actions_2,19.362392,107400.375,1590965900.0,95791.46,28752.322
+Muscle_Actions_3,52.204414,145554.75,1756172000.0,154669.77,29300.826
+Muscle_Actions_4,3.9881184,24304.418,417651500.0,71947.58,13291.663
+Muscle_Actions_5,41.021606,314668.2,6802183000.0,338107.34,48704.14
+Muscle_Actions_6,64.53235,253578.19,4495685600.0,302945.84,42041.516
+Muscle_Actions_7,73.52059,217666.9,3022053000.0,171262.08,36829.734
+Muscle_Actions_8,30.40208,220534.84,5289651700.0,313011.22,43301.254
+Muscle_Actions_9,76.215004,337105.78,4680952300.0,187883.5,46909.12
+Muscle_Actions_10,72.99401,276430.56,3905974300.0,160792.47,45963.44
+Muscle_Actions_11,45.39914,246880.89,4029310000.0,192409.16,44381.723
+Muscle_Actions_12,25.332531,144844.67,2570242600.0,164445.22,33267.652
+Muscle_Actions_13,56.841576,407222.8,10259229000.0,400884.4,57943.254
+Muscle_Actions_14,42.91307,275515.53,5862663700.0,320623.16,44472.88
+Muscle_Actions_15,55.325,679583.4,17235910000.0,603901.8,72339.65
+Muscle_Actions_16,59.89817,564740.4,13802430000.0,511500.72,60815.723
+Muscle_Actions_17,44.800823,334274.44,4999025700.0,259590.39,42552.01
+Muscle_Actions_18,31.695625,297164.6,6254802000.0,276408.72,45663.867
+Muscle_Actions_19,25.109707,167454.58,2983091200.0,209485.11,32747.213
+Muscle_Actions_20,24.673704,158077.06,3364288300.0,159147.98,42736.406
+Muscle_Actions_21,25.64135,99904.93,2145548800.0,181518.56,26823.416
+Muscle_Actions_22,38.459236,300370.06,4963003400.0,258615.67,45344.56
+Muscle_Actions_23,21.36361,179200.38,2565440800.0,181684.8,32164.117
+Muscle_Actions_24,38.88514,224054.75,3568565200.0,283034.7,33442.52
+Muscle_Actions_25,26.751947,339741.56,8583286300.0,443782.34,43619.977
+Muscle_Actions_26,33.525974,142474.1,1842465000.0,116652.31,28864.918
+Muscle_Actions_27,44.661793,331692.8,5856531500.0,229297.64,47080.965
+Muscle_Actions_28,55.938725,275975.97,5983266300.0,283227.7,43279.45
+Muscle_Actions_29,24.86389,157049.14,2418709200.0,185035.28,32462.643
+Muscle_Actions_30,41.249096,185147.81,2082604500.0,157208.44,27985.13
+Muscle_Actions_31,54.69687,185679.95,2256885800.0,171171.72,31144.9
+Muscle_Actions_32,43.446587,383605.22,8723347000.0,317206.38,48920.574
+Muscle_Actions_33,49.254627,231719.95,3886302700.0,187999.38,39797.906
+Muscle_Actions_34,69.28254,408926.28,7448954400.0,324685.03,50101.11
+Muscle_Actions_35,22.50957,79458.49,929065100.0,100882.414,17724.096
+Muscle_Actions_36,74.13815,340252.34,4835167000.0,240066.05,41289.863
+Muscle_Actions_37,27.180431,236311.11,5121874400.0,197077.39,46236.96
+Muscle_Actions_38,24.267256,124578.695,2231678200.0,139462.0,32696.297
+Muscle_Actions_39,34.685246,134148.7,2599185200.0,201817.58,35089.895
+Muscle_Actions_40,48.129326,609712.56,13465978000.0,383253.94,64593.44
+Muscle_Actions_41,52.74531,391440.38,6650656000.0,290779.72,53706.105
+Muscle_Actions_42,4.8376718,33137.477,587397760.0,83398.164,15114.074
+Muscle_Actions_43,29.696476,232823.75,4661740000.0,284315.34,36743.426
+Muscle_Actions_44,33.045647,83209.71,1281646100.0,106360.914,25839.418
+Muscle_Actions_45,22.135502,109829.73,2336349700.0,153674.48,33110.55
+Muscle_Actions_46,24.458014,195919.27,4438454000.0,250178.16,40613.12
+Muscle_Actions_47,25.202843,192722.69,2886089700.0,175730.4,31594.867
+Muscle_Actions_48,47.126797,483656.9,10883717000.0,519647.38,56675.594
+Muscle_Actions_49,56.54592,266148.2,3913819100.0,294689.25,32647.977
+Muscle_Actions_50,29.316418,130040.78,3060223500.0,227777.72,29432.326
+Muscle_Actions_51,28.926268,139735.48,2221628000.0,152987.48,34996.12
+Muscle_Actions_52,22.155018,114166.37,2134565000.0,199612.5,29262.928
+Muscle_Actions_53,15.5521145,109170.375,3000489500.0,153966.19,35410.496
+Muscle_Actions_54,24.660065,108798.65,1477840800.0,111258.69,28024.012
+Muscle_Actions_55,49.017437,207426.66,2450327300.0,125969.65,36208.793
+Muscle_Actions_56,25.932278,168409.52,1882680000.0,101502.54,32434.582
+Muscle_Actions_57,32.38883,258506.5,5543655400.0,229125.27,50225.723
+Muscle_Actions_58,110.63263,481192.9,8311622000.0,408174.34,46956.12
+Muscle_Actions_59,25.105667,157433.03,2465812500.0,209189.3,31792.668
+Muscle_Actions_60,98.0698,635477.5,13958766000.0,451394.16,63115.586
+Muscle_Actions_61,40.309002,396167.28,8163495000.0,282217.5,60393.938
+Muscle_Actions_62,28.061234,204915.7,4753428500.0,332691.62,33169.06
+Muscle_Actions_63,32.540928,256281.06,4513731600.0,324573.62,36257.08
+Muscle_Actions_64,24.454397,66906.24,1327858200.0,108701.88,26886.111
+Muscle_Actions_65,69.68566,457089.47,8058175500.0,355669.44,49097.652
+Muscle_Actions_66,23.145468,185083.61,3067870000.0,150757.25,39911.336
+Muscle_Actions_67,44.50518,402277.47,9142992000.0,372277.2,60562.645
+Muscle_Actions_68,57.05472,576637.56,12561167000.0,344474.78,69224.88
+Muscle_Actions_69,34.48786,346111.47,6842198500.0,265524.5,53709.832
+Muscle_Actions_70,35.37133,176853.1,3295207000.0,188322.31,33878.97
+Muscle_Actions_71,32.661167,135975.89,2760893200.0,174241.36,33459.266
+Muscle_Actions_72,24.290077,254232.61,5986081300.0,212549.27,49705.71
+Muscle_Actions_73,28.314901,173376.31,2841084200.0,178081.75,34778.957
+Muscle_Actions_74,63.24514,423933.7,8507944000.0,447104.34,50469.45
+Muscle_Actions_75,22.104,217636.75,3151947000.0,177045.34,36762.29
+Muscle_Actions_76,38.07844,275236.97,3223654100.0,229469.06,38030.234
+Muscle_Actions_77,28.513279,237758.75,4865321500.0,181810.44,47816.914
+Muscle_Actions_78,17.317394,104863.08,1464818400.0,101986.41,30567.662
+Muscle_Actions_79,12.770783,102009.03,1732372400.0,172650.22,24935.508
+Muscle_Actions_80,30.381912,189802.73,3852278500.0,199833.88,41003.945
+Muscle_Actions_81,29.51479,163921.2,2740981200.0,194070.75,31973.87
+Muscle_Actions_82,19.932474,65446.477,1109390800.0,89441.12,21918.643
+Muscle_Actions_83,66.59885,495169.03,7139538400.0,270463.47,48292.266
+Muscle_Actions_84,26.63852,158217.62,1871533400.0,139439.7,28884.44
+Muscle_Actions_85,43.35467,361264.88,4863857700.0,217156.53,43326.246
+Muscle_Actions_86,20.664274,108173.24,1409331300.0,153287.66,19248.215
+Muscle_Actions_87,30.06148,193360.39,3689481000.0,297515.62,31802.52
+Muscle_Actions_88,149.04517,712873.8,12591031000.0,411096.16,64829.426
+Muscle_Actions_89,59.115025,393005.7,7695875000.0,364104.88,47893.42
+Muscle_Actions_90,21.961967,87709.31,1291847200.0,123854.28,23189.113
+Muscle_Actions_91,53.4706,155041.48,3015857200.0,179972.17,33142.844
+Muscle_Actions_92,58.94106,366783.53,3950066000.0,260833.14,41401.38
+Muscle_Actions_93,9.37521,86087.07,2509113600.0,184923.89,30282.207
+Muscle_Actions_94,42.191185,304810.0,7131173400.0,356807.0,42684.293
+Muscle_Actions_95,111.29924,597965.75,8928905000.0,338142.7,57458.86
+Muscle_Actions_96,88.18035,475163.53,5323923500.0,212920.48,48651.516
+Muscle_Actions_97,19.14718,159483.64,3291960000.0,222931.5,37273.125
+Muscle_Actions_98,45.672398,267557.53,4147647700.0,265931.6,36251.38
+Muscle_Actions_99,19.712996,114790.75,1748608900.0,110821.25,29320.9
+Muscle_Actions_100,22.960175,222542.69,4768310300.0,250675.98,40678.586
+Muscle_Actions_101,75.93785,487328.53,8231614500.0,251749.58,55579.953
+Muscle_Actions_102,76.35307,422914.12,6031389000.0,249103.9,47078.566
+Muscle_Actions_103,38.302425,216361.89,3908287700.0,202141.05,36333.973
+Muscle_Actions_104,28.087574,83529.29,1478225200.0,148697.44,23627.156
+Muscle_Actions_105,22.405346,166719.66,3973464300.0,268642.44,35912.977
+Muscle_Actions_106,54.046555,247221.98,3233033500.0,168075.44,40163.633
+Muscle_Actions_107,64.67455,408928.62,8150343700.0,360931.22,47403.69
+Muscle_Actions_108,42.802383,304574.84,5185713000.0,350499.1,44812.402
+Muscle_Actions_109,49.83227,377690.47,7790743600.0,418871.75,47332.85
+Muscle_Actions_110,58.326454,359607.4,9393183000.0,388947.12,48835.797
+Muscle_Actions_111,66.98414,358091.5,5817211400.0,236017.83,53494.06
+Muscle_Actions_112,36.577526,341721.9,8496475000.0,405166.56,47626.45
+Muscle_Actions_113,35.355743,210703.05,2102521200.0,132989.17,30245.22
+Muscle_Actions_114,19.641018,76571.51,1311721200.0,99115.375,24770.703
+Muscle_Actions_115,71.31698,336850.9,7749758500.0,352170.94,50871.133
+Muscle_Actions_116,26.550505,97777.7,1345229400.0,115204.09,24011.502
+Muscle_Actions_117,54.64921,250103.27,3241408300.0,248335.42,29524.207
+Muscle_Actions_118,79.61275,363891.5,6568755700.0,329256.3,49183.844
+Muscle_Actions_119,79.98362,546823.06,9863298000.0,339373.72,59464.676
+Muscle_Actions_120,85.24413,683265.44,13751353000.0,473123.56,68816.78
+Muscle_Actions_121,28.739695,152311.84,2397560600.0,165772.86,30432.436
+Muscle_Actions_122,48.339706,314371.62,4805950000.0,169557.92,47652.86
+Muscle_Actions_123,44.826897,252023.86,4195571000.0,200449.47,38418.35
+Muscle_Actions_124,58.07906,474838.97,12834636000.0,549077.56,51041.418
+Muscle_Actions_125,28.277555,168397.16,2657026600.0,204923.16,37334.36
+Muscle_Actions_126,25.777786,305627.44,6359288300.0,314662.53,50316.04
+Muscle_Actions_127,27.675676,151703.34,3422843100.0,267812.5,31587.055
+Muscle_Actions_128,35.680473,233924.66,4570247000.0,274153.94,36899.48
+Muscle_Actions_129,65.90587,365466.03,5650499000.0,277036.72,42742.65
+Muscle_Actions_130,45.47278,262903.38,6003941000.0,361633.4,42939.324
+Muscle_Actions_131,24.56101,141675.16,2727689200.0,153515.45,36448.234
+Muscle_Actions_132,32.360966,151908.52,3633189400.0,241969.53,36150.793
+Muscle_Actions_133,28.198696,402413.0,11892386000.0,489791.62,59340.746
+Muscle_Actions_134,15.955342,239011.05,6136513000.0,356626.62,39992.695
+Muscle_Actions_135,40.167854,192439.52,3011452700.0,181499.72,37241.527
+Muscle_Actions_136,94.22841,693568.94,10323644000.0,410619.56,63818.645
+Muscle_Actions_137,36.435024,304348.9,5144288000.0,206308.78,47119.445
+Muscle_Actions_138,98.29482,513860.78,6938133000.0,429366.72,43871.44
+Muscle_Actions_139,13.962307,35667.723,548852900.0,108840.945,13515.425
+Muscle_Actions_140,15.316178,118197.75,2543821600.0,179656.27,29010.758
+Muscle_Actions_141,24.739918,235530.19,3494845200.0,150238.98,39169.234
+Muscle_Actions_142,33.0406,98451.3,1383088600.0,100923.66,27366.002
+Muscle_Actions_143,84.81675,743323.8,13917574000.0,567818.06,62412.176
+Muscle_Actions_144,74.0915,811345.44,18359032000.0,553635.94,75333.73
+Muscle_Actions_145,24.362612,139947.86,2467870000.0,212629.67,30166.105
+Muscle_Actions_146,35.52939,213850.94,4218624000.0,203751.69,40063.36
+Muscle_Actions_147,23.565468,274004.38,6011453400.0,297869.3,46899.504
+Muscle_Actions_148,62.722717,227294.89,4787066400.0,219053.75,44334.273
+Muscle_Actions_149,38.380856,336533.72,3786718500.0,205997.47,39125.54
+Muscle_Actions_150,57.375786,156578.47,1846035200.0,115921.98,29731.756
+Muscle_Actions_151,24.119602,209429.81,4551385000.0,214943.05,43373.07
+Muscle_Actions_152,10.356263,78583.875,2064659700.0,145936.48,29188.309
+Muscle_Actions_153,25.942575,76967.49,935645950.0,101027.016,20008.607
+Muscle_Actions_154,32.805794,202428.36,3236550000.0,224841.3,38676.004
+Muscle_Actions_155,15.705739,193878.1,4735457300.0,234170.5,41910.676
+Muscle_Actions_156,39.46344,112126.3,1853638900.0,131690.03,28009.748
+Muscle_Actions_157,39.79626,408576.0,6105288700.0,231871.67,45430.7
+Muscle_Actions_158,56.31944,546301.06,12306746000.0,434046.03,66703.984
+Muscle_Actions_159,51.234413,501216.12,8057950700.0,293946.88,50494.49
+Muscle_Actions_160,31.027815,221791.86,5443942400.0,229484.8,48951.496
+Muscle_Actions_161,4.831974,25342.19,292880220.0,44232.43,13227.447
+Muscle_Actions_162,60.40538,401752.53,9382833000.0,385339.62,59796.496
+Muscle_Actions_163,34.214573,41416.656,584327900.0,94190.66,15315.376
+Muscle_Actions_164,42.07157,354403.62,4237940000.0,200955.62,43894.867
+Muscle_Actions_165,31.456001,78116.72,1549812100.0,136717.44,25229.633
+Muscle_Actions_166,28.570644,287606.3,7195894000.0,265140.06,55693.227
+Muscle_Actions_167,74.26244,510106.2,10039129000.0,367887.75,60050.094
+Muscle_Actions_168,29.535421,88164.91,1879867500.0,167249.69,26952.322
+Muscle_Actions_169,54.002426,356933.12,6681964500.0,352929.12,40355.145
+Muscle_Actions_170,141.8677,766087.2,14967623000.0,570558.5,65393.266
+Muscle_Actions_171,43.838837,283162.4,4737858000.0,181321.73,47063.258
+Muscle_Actions_172,82.48072,441259.78,7540799500.0,349058.1,52486.027
+Muscle_Actions_173,53.25377,265676.3,3845388800.0,214362.86,35014.547
+Muscle_Actions_174,49.79569,469395.4,9457988000.0,297242.22,63153.016
+Muscle_Actions_175,24.885492,148332.06,1959304800.0,240046.27,22802.72
+Muscle_Actions_176,67.89387,269017.22,4247773000.0,181885.6,45286.48
+Muscle_Actions_177,62.3854,453035.5,6771574300.0,361408.53,50274.914
+Muscle_Actions_178,33.12706,180824.42,2620885500.0,178482.53,32345.44
+Muscle_Actions_179,28.595615,243612.11,4355130000.0,227455.14,36214.082
+Muscle_Actions_180,32.392582,340950.28,6162488000.0,237959.98,50894.54
+Muscle_Actions_181,32.60972,118177.15,1934057100.0,104505.78,33453.527
+Muscle_Actions_182,28.799541,273661.28,4187685600.0,300199.88,38158.04
+Muscle_Actions_183,37.120453,254256.31,5385957000.0,287250.28,43490.16
+Muscle_Actions_184,12.225256,61858.676,985653300.0,87379.93,21998.584
+Muscle_Actions_185,44.282623,219276.05,3257627400.0,173963.19,37202.066
+Muscle_Actions_186,45.13574,322575.8,5367271000.0,246280.55,46217.785
+Muscle_Actions_187,39.78593,141633.36,2549640400.0,168651.81,34235.277
+Muscle_Actions_188,29.80084,169195.88,2334862000.0,138535.56,31461.078
+Muscle_Actions_189,43.28119,180694.64,2168680400.0,129074.16,33872.984
+Muscle_Actions_190,61.341568,321727.97,5984491500.0,208434.47,50928.348
+Muscle_Actions_191,46.187355,156452.77,3133465900.0,151185.69,37286.984
+Muscle_Actions_192,35.542015,252572.25,4897511400.0,183928.25,49986.746
+Muscle_Actions_193,17.673098,69735.39,1466907100.0,169219.44,21796.818
+Muscle_Actions_194,62.776466,333522.97,5629027000.0,273816.6,43471.176
+Muscle_Actions_195,90.77076,385228.88,5780922000.0,207748.53,52583.297
+Muscle_Actions_196,61.008495,980118.0,29026850000.0,846518.25,73211.02
+Muscle_Actions_197,21.077219,151312.45,2982612700.0,167989.25,35731.31
+Muscle_Actions_198,30.317595,117722.07,2148294400.0,138658.58,32745.07
+Muscle_Actions_199,51.100254,480603.4,12510072000.0,527587.9,60449.19
+Muscle_Actions_200,12.111878,102268.95,1886810400.0,148546.58,26522.252
+Muscle_Actions_201,25.271036,85122.0,1862425300.0,144596.94,28124.787
+Muscle_Actions_202,26.07494,63873.035,457998560.0,83965.06,15686.735
+Muscle_Actions_203,40.200428,328168.94,7164089300.0,350380.12,46388.938
+Muscle_Actions_204,33.805428,154829.11,2674535700.0,227936.98,31675.69
+Muscle_Actions_205,80.31758,640875.2,8389088000.0,374339.7,57787.56
+Muscle_Actions_206,68.064285,621919.94,15215377000.0,450883.38,73680.24
+Muscle_Actions_207,17.135002,193280.69,4922908000.0,223490.06,45068.605
+Muscle_Actions_208,64.38508,244488.48,4496794000.0,242838.03,41519.75
+Muscle_Actions_209,70.374794,441801.38,2564107500.0,171715.14,32791.684
+Muscle_Actions_210,7.53046,68524.12,681836400.0,141270.75,12394.547
+Muscle_Actions_211,88.971924,768575.8,12424707000.0,523650.53,57695.56
+Muscle_Actions_212,30.265923,195941.05,4599518000.0,234899.28,42073.016
+Muscle_Actions_213,140.25328,1076975.4,25622591000.0,642047.8,91200.61
+Muscle_Actions_214,94.50906,713512.75,14837859000.0,488518.66,70415.19
+Muscle_Actions_215,41.18051,236365.48,5052097000.0,317239.75,39059.566
+Muscle_Actions_216,19.559181,197523.0,3729607000.0,253501.42,34244.86
+Muscle_Actions_217,59.696327,182669.52,1826011600.0,103742.54,30660.137
+Muscle_Actions_218,12.668369,59265.35,1293518100.0,118461.25,21728.342
+Muscle_Actions_219,9.709775,143516.42,3581205200.0,206141.7,39415.86
+Muscle_Actions_220,37.371696,278236.47,4779254300.0,342944.3,39588.066
+Muscle_Actions_221,19.010221,128602.85,2195195000.0,147765.45,33680.438
+Muscle_Actions_222,5.8701987,37952.723,763168300.0,87624.31,18405.275
+Muscle_Actions_223,0.7716317,10793.72,281456600.0,73261.8,9153.529
+Muscle_Actions_224,121.24825,1320882.9,25653450000.0,721689.94,81834.39
+Muscle_Actions_225,22.553356,221975.7,2637923600.0,261811.8,25381.094
+Muscle_Actions_226,54.354073,253470.69,2749579500.0,243053.27,26898.965
+Muscle_Actions_227,143.02515,1341444.1,28681855000.0,831245.9,74415.766
+Muscle_Actions_228,39.203423,166212.31,1686490200.0,161305.9,21351.572
+Muscle_Actions_229,23.092695,112554.65,1987262600.0,178573.73,26058.297
+Muscle_Actions_230,34.13886,219078.34,4557057500.0,259929.36,45866.305
+Muscle_Actions_231,27.750694,153310.61,2271384300.0,139610.05,33842.324
+Muscle_Actions_232,6.4247518,33569.637,554479170.0,70662.44,17271.297
+Muscle_Actions_233,50.4847,356271.8,6654791000.0,232521.53,56838.49
+Muscle_Actions_234,129.7719,1115469.9,19373826000.0,657153.9,71739.47
+Muscle_Actions_235,52.05727,291587.28,3991575600.0,220116.14,41696.72
+Muscle_Actions_236,4.210314,14377.024,197127000.0,36464.633,10512.0625
+Muscle_Actions_237,32.30514,132235.02,3011677400.0,150735.14,38355.29
+Muscle_Actions_238,44.334118,435096.1,8326626300.0,372407.56,55736.254
+Muscle_Actions_239,63.76636,675432.56,11327604000.0,532822.4,48783.535
+Muscle_Actions_240,44.48342,538603.75,11954939000.0,378008.12,64562.5
+Muscle_Actions_241,0.91232723,7164.3833,112553256.0,52855.133,5716.7163
+Muscle_Actions_242,129.2271,776096.8,11653774000.0,393387.7,70205.15
+Muscle_Actions_243,3.583052,17256.205,351422500.0,59110.64,13415.884
+Muscle_Actions_244,50.192173,491006.03,12191554000.0,475300.78,53302.57
+Muscle_Actions_245,102.867805,1090281.9,22534244000.0,459194.66,94648.34
+Muscle_Actions_246,30.466475,267694.0,6279017000.0,424773.1,32823.133
+Muscle_Actions_247,11.99386,134200.06,3094778600.0,267949.94,28599.547
+Muscle_Actions_248,2.061296,15540.766,314950240.0,58933.734,9929.062
+Muscle_Actions_249,22.7471,241728.69,5387608000.0,289898.4,38873.324
+Muscle_Actions_250,67.635574,174385.27,2285918200.0,120417.12,36064.113
+Muscle_Actions_251,236.89006,1688063.9,28405008000.0,778360.75,91279.76
+Muscle_Actions_252,40.52318,363735.44,8662796000.0,346417.44,57564.188
+Muscle_Actions_253,59.047726,232530.02,2725470700.0,205377.34,28287.447
+Muscle_Actions_254,44.006268,311905.62,6698212000.0,352818.97,48676.812
+Muscle_Actions_255,35.999214,290099.72,6682941400.0,317110.3,45197.75
+Muscle_Actions_256,0.73746336,4422.178,88741430.0,40873.586,5059.089
+Muscle_Actions_257,21.737724,136832.84,2178325500.0,188859.83,29178.785
+Muscle_Actions_258,15.074042,102855.65,1848480600.0,172833.2,25309.707
+Muscle_Actions_259,9.796688,66888.68,1457860600.0,155202.52,22210.363
+Muscle_Actions_260,18.696617,125550.72,2734264000.0,145706.23,35936.37
+Muscle_Actions_261,26.251736,121231.125,2338152200.0,126942.45,33417.082
+Muscle_Actions_262,18.875635,105603.45,1573014300.0,142005.33,19196.268
+Muscle_Actions_263,6.964951,58467.9,950671200.0,111437.14,17226.314
+Muscle_Actions_264,140.04993,979959.56,12956167000.0,447808.88,67482.234
+Muscle_Actions_265,26.813194,211948.94,2088937700.0,274984.12,16422.814
+Muscle_Actions_266,9.199682,91871.88,1849770500.0,152099.67,27285.775
+Muscle_Actions_267,72.59843,337744.03,5431481300.0,297506.28,44207.94
+Muscle_Actions_268,88.252,241529.77,2631070000.0,177032.4,32944.65
+Muscle_Actions_269,72.76729,508128.72,10725783000.0,419160.5,56497.355
+Muscle_Actions_270,70.586655,661174.0,12839371000.0,374255.06,64725.43
+Muscle_Actions_271,67.8276,643978.4,11556345000.0,429279.03,65912.35
+Muscle_Actions_272,45.23802,223437.05,3895758600.0,199413.66,42276.71
+Muscle_Actions_273,44.60125,345564.12,7160130600.0,293179.22,56842.004
+Muscle_Actions_274,155.13153,1491108.0,23922141000.0,705737.75,76928.38
+Muscle_Actions_275,15.350977,70320.22,531706460.0,70060.555,15198.161
+Muscle_Actions_276,35.57982,189996.06,3018138000.0,148173.88,37073.3
+Muscle_Actions_277,29.559032,266692.28,6585352700.0,382579.7,42554.527
+Muscle_Actions_278,111.7803,957366.2,18172307000.0,532424.8,84173.48
+Muscle_Actions_279,42.487774,411008.0,7333514000.0,357549.66,41881.95
+Muscle_Actions_280,8.582007,168508.48,5070607000.0,316099.28,28925.6
+Muscle_Actions_281,2.17158,12898.65,210542580.0,79005.36,5802.5703
+Muscle_Actions_282,3.7581809,21090.92,321707700.0,76126.875,10891.839
+Muscle_Actions_283,54.66347,190000.22,2798278100.0,179925.56,33692.133
+Muscle_Actions_284,17.213356,94313.99,1564981200.0,125330.92,27939.445
+Muscle_Actions_285,66.726555,650748.75,13265501000.0,459655.0,66184.65
+Muscle_Actions_286,31.326765,56456.16,616596200.0,77488.664,17313.018
+Muscle_Actions_287,7.46907,39900.246,501449700.0,67801.234,15699.297
+Muscle_Actions_288,0.46918404,3257.229,52131010.0,22123.814,4233.2437
+Muscle_Actions_289,48.00987,408260.9,8521837600.0,285877.1,61375.535
+Muscle_Actions_290,33.467743,229128.52,4039983400.0,167171.19,41670.715
+Muscle_Actions_291,39.67486,322201.75,7728359400.0,285511.44,52045.227
+Muscle_Actions_292,39.476,281145.84,5482679000.0,276271.8,46306.113
+Muscle_Actions_293,26.380672,149098.11,2695514400.0,173365.11,32683.139
+Muscle_Actions_294,12.353718,114161.62,2637472300.0,183783.7,34940.45
+Muscle_Actions_295,50.728813,269706.72,2987953700.0,189925.61,35478.453
+Muscle_Actions_296,21.502089,82792.66,1262892900.0,150262.77,20167.633
+Muscle_Actions_297,39.161156,544818.0,13626177000.0,367011.78,70617.68
+Muscle_Actions_298,35.44412,312105.16,5398485500.0,342377.2,40672.297
+Muscle_Actions_299,40.76007,311175.03,6111048700.0,270206.7,46847.34
+Muscle_Actions_300,28.599642,142839.2,1981540400.0,183275.34,26166.637
+Muscle_Actions_301,66.24123,272455.94,4365395500.0,222670.44,43044.824
+Muscle_Actions_302,36.987434,191212.73,3460743000.0,195735.81,36574.062
+Muscle_Actions_303,64.56688,201099.94,2906821400.0,184019.2,36838.223
+Muscle_Actions_304,30.33626,91564.97,1672278300.0,132058.92,26289.373
+Muscle_Actions_305,40.22052,157663.61,1894771100.0,212999.77,24826.172
+Muscle_Actions_306,36.690613,320848.25,8450232000.0,378506.53,61494.06
+Muscle_Actions_307,17.514301,198968.06,4876439000.0,320267.97,36491.914
+Muscle_Actions_308,33.131638,145584.34,1891742600.0,183915.73,29562.906
+Muscle_Actions_309,100.4828,406824.72,4482579500.0,257700.14,38944.715
+Muscle_Actions_310,40.538383,701332.1,19397208000.0,513126.5,72308.63
+Muscle_Actions_311,23.160698,250806.25,5305741000.0,187758.33,46817.805
+Muscle_Actions_312,18.06504,144150.23,2615200300.0,176325.33,32263.715
+Muscle_Actions_313,29.937937,193359.95,2949254100.0,200212.72,36144.094
+Muscle_Actions_314,36.732265,173436.8,3050810600.0,163033.97,37643.152
+Muscle_Actions_315,43.816334,267152.22,4906051000.0,225845.05,46806.59
+Muscle_Actions_316,25.050625,222108.05,5723068400.0,393796.03,35058.184
+Muscle_Actions_317,85.96538,380314.7,2302496500.0,221283.56,25730.5
+Muscle_Actions_318,70.82419,354941.47,8097021400.0,375440.38,43748.516
+Muscle_Actions_319,43.011826,160072.77,2645791700.0,171555.77,33296.81
+Muscle_Actions_320,56.866005,284064.72,4965590500.0,286513.28,42834.516
+Muscle_Actions_321,40.34354,135198.73,2566215200.0,224334.78,31469.168
+Muscle_Actions_322,80.262184,661482.75,15045433000.0,524262.78,72066.88
+Muscle_Actions_323,60.062847,250813.55,2922324500.0,170248.39,36265.926
+Muscle_Actions_324,64.82113,140352.55,1392319400.0,139549.25,26010.395
+Muscle_Actions_325,85.702774,898712.56,22126940000.0,651434.9,81559.82
+Muscle_Actions_326,20.673027,88609.734,1085099500.0,88299.336,24109.127
+Muscle_Actions_327,0.7106413,5729.5864,107767940.0,31514.467,7228.2817
+Muscle_Actions_328,11.023522,82647.305,1587723500.0,143415.52,23578.932
+Muscle_Actions_329,20.225346,214326.14,4862509600.0,353517.84,31693.643
+Muscle_Actions_330,47.810715,388354.28,7706513000.0,266397.84,53591.51
+Muscle_Actions_331,52.07104,155168.22,2145720400.0,168712.97,30946.424
+Muscle_Actions_332,20.828247,83184.13,1518472700.0,161572.58,21257.76
+Muscle_Actions_333,24.182625,347098.72,9200855000.0,453278.78,49854.49
+Muscle_Actions_334,62.286766,499570.72,9626748000.0,452458.22,56067.11
+Muscle_Actions_335,64.23627,335646.97,6448454000.0,269191.75,53137.035
+Muscle_Actions_336,59.70161,210119.56,3426976500.0,207638.98,36162.402
+Muscle_Actions_337,35.845505,146188.27,2678502000.0,142977.53,36025.258
+Muscle_Actions_338,15.393307,95848.695,2263028500.0,128840.69,33509.254
+Muscle_Actions_339,12.186088,136679.1,3000833500.0,193065.23,34500.746
+Muscle_Actions_340,78.83844,173245.81,3026150700.0,225637.67,30203.418
+Muscle_Actions_341,34.658627,233085.16,4132011300.0,158222.02,44631.88
+Muscle_Actions_342,69.728134,394180.0,6767303000.0,237465.08,56459.355
+Muscle_Actions_343,11.037694,111471.7,3230915600.0,212503.9,34623.83
+Muscle_Actions_344,57.57027,374415.06,7151544000.0,219754.94,61366.082
+Muscle_Actions_345,57.403896,361016.44,4917294600.0,247212.47,35999.977
+Muscle_Actions_346,19.403103,212038.25,5152270000.0,246431.05,47228.824
+Muscle_Actions_347,27.284004,307281.9,5840469000.0,314420.53,46931.766
+Muscle_Actions_348,60.671852,202896.2,2582483700.0,206241.12,32828.33
+Muscle_Actions_349,32.50551,154408.19,2686699300.0,209713.28,32913.875
+Muscle_Actions_350,61.815517,341949.7,6019090400.0,332749.38,45760.656
+Muscle_Actions_351,25.770475,190499.92,2119121400.0,149513.61,31192.451
+Muscle_Actions_352,27.557663,351100.53,8444938000.0,306743.1,59463.81
+Muscle_Actions_353,5.1951947,34008.605,745493500.0,109115.125,15259.988
+Muscle_Actions_354,89.76628,471794.0,7078785500.0,266203.03,52411.402
+Muscle_Actions_355,53.759624,286488.5,5120526300.0,191024.25,49797.527
+Muscle_Actions_356,17.877401,127856.4,2909009000.0,136122.23,36811.902
+Muscle_Actions_357,43.175022,511027.53,8960462000.0,414496.97,46085.543
+Muscle_Actions_358,50.10465,488244.53,10512498000.0,379625.1,67257.35
+Muscle_Actions_359,63.413845,482666.5,10883510000.0,360584.38,65280.36
+Muscle_Actions_360,29.299206,205598.02,5053612000.0,237675.67,46602.883
+Muscle_Actions_361,55.346195,316455.72,6712253000.0,296804.0,45308.97
+Muscle_Actions_362,76.92756,370381.38,5226594300.0,234256.39,47839.64
+Muscle_Actions_363,7.9724035,52332.465,1215686400.0,97671.805,21395.73
+Muscle_Actions_364,18.122524,123251.98,1889413900.0,124848.6,28661.752
+Muscle_Actions_365,24.238466,171140.67,2162893000.0,169655.44,30826.178
+Muscle_Actions_366,29.936544,183749.19,4077018600.0,211622.6,40723.125
+Muscle_Actions_367,25.121725,106409.07,1708118300.0,178233.1,24956.895
+Muscle_Actions_368,8.056476,30567.87,347156830.0,51532.625,11983.578
+Muscle_Actions_369,41.273262,255867.7,3508850400.0,208201.05,38257.305
+Muscle_Actions_370,34.033722,136178.8,1961809200.0,146016.72,26514.078
+Muscle_Actions_371,29.941734,316019.56,7763855400.0,315936.28,56670.5
+Muscle_Actions_372,45.403015,179026.36,2560475000.0,122897.33,34846.168
+Muscle_Actions_373,47.48237,406349.53,7193044000.0,346958.47,44256.633
+Muscle_Actions_374,26.30682,179326.94,3604977000.0,201689.12,37962.92
+Muscle_Actions_375,79.841225,399588.3,5131357700.0,191362.03,54655.336
+Muscle_Actions_376,14.786342,194538.86,4738474000.0,233975.83,46768.047
+Muscle_Actions_377,84.94005,536151.5,9633835000.0,342939.5,56991.082
+Muscle_Actions_378,66.7646,208406.7,2277662200.0,190101.14,30981.041
+Muscle_Actions_379,51.95063,248114.45,2491317800.0,185743.98,33767.082
+Muscle_Actions_380,13.77188,48532.76,647563600.0,67341.266,18432.383
+Muscle_Actions_381,33.5725,305489.8,6483902500.0,381135.7,39207.13
+Muscle_Actions_382,56.2505,345415.38,6302388000.0,281422.5,51276.023
+Muscle_Actions_383,33.143887,207126.6,3433172000.0,205450.47,35447.676
+Muscle_Actions_384,34.345634,303251.62,5059669000.0,279982.62,44521.414
+Muscle_Actions_385,34.29379,236873.31,4633670000.0,251806.27,42428.035
+Muscle_Actions_386,49.52853,306791.06,5003985400.0,203143.06,47317.273
+Muscle_Actions_387,57.559395,402069.5,5706062300.0,260588.6,49798.477
+Muscle_Actions_388,13.496886,87723.28,1611314400.0,130230.61,23410.055
+Muscle_Actions_389,36.266636,388742.22,8763020000.0,373906.84,54072.36
+Muscle_Actions_390,30.676573,287755.28,5459790000.0,267471.56,48295.44
+Muscle_Actions_391,29.656885,194727.52,3542310700.0,204020.27,39667.688
+Muscle_Actions_392,30.37112,130130.18,2256342300.0,152181.2,30561.762
+Muscle_Actions_393,67.42375,364301.94,6978743000.0,294117.56,49457.11
+Muscle_Actions_394,32.880234,135392.64,2946732000.0,172905.69,37584.715
+Muscle_Actions_395,18.264944,138840.12,2586526000.0,171290.52,32246.68
+Muscle_Actions_396,65.23142,234501.81,3823073500.0,217547.12,40841.754
+Muscle_Actions_397,42.70999,130944.23,1269544300.0,83409.19,26305.242
+Muscle_Actions_398,21.736456,61718.09,683364540.0,66577.914,18068.945
+Muscle_Actions_399,60.90268,930914.2,25465887000.0,600285.44,80128.06
+Muscle_Actions_400,52.578926,95883.72,1572899300.0,109729.88,26892.47
+Muscle_Actions_401,58.61021,259808.06,4023306800.0,177984.89,40482.133
+Muscle_Actions_402,38.408257,96467.68,1432470400.0,144337.12,22590.127
+Muscle_Actions_403,47.96268,151249.19,2366497500.0,118699.43,34195.258
+Muscle_Actions_404,33.83519,170991.45,2607335200.0,174613.36,33409.37
+Muscle_Actions_405,41.284748,226606.55,3515967500.0,183853.62,40892.258
+Muscle_Actions_406,42.99453,343885.47,6987583000.0,258615.08,53358.12
+Muscle_Actions_407,69.78272,460560.47,10694233000.0,436909.3,52525.56
+Muscle_Actions_408,46.012505,249201.11,3802615000.0,210543.39,39790.324
+Muscle_Actions_409,14.887596,75192.63,935776300.0,93499.42,21854.395
+Muscle_Actions_410,27.001457,143268.64,3081126100.0,196721.08,35325.914
+Muscle_Actions_411,46.749912,340869.72,6038521300.0,328261.62,45566.86
+Muscle_Actions_412,14.015781,115149.51,2985276400.0,184100.81,33851.25
+Muscle_Actions_413,17.641672,203351.94,4985453600.0,328522.88,40956.44
+Muscle_Actions_414,25.630405,210835.3,4221350000.0,284523.84,39415.11
+Muscle_Actions_415,16.668964,91018.95,2030408600.0,174579.14,26255.852
diff --git a/data/sac/sac_sidestep_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_sidestep_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f525c0363af8f4eac663160572b950f200e9f1e
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,18.588204957626488,170719.24472530276,3373987511.2243376,218711.16061065084,31486.817921816284
+Physical_Joints_1,29.49792753098067,128872.62832932627,2085478723.1741471,211485.6586417325,26916.645317951952
+Physical_Joints_2,35.68644656522459,215556.9671430159,3462539493.2414217,217090.7452276351,34494.976189991175
+Physical_Joints_3,2775.667195343203,9149261.967465797,145894134964.172,1961535.622228519,194420.0468363169
+Physical_Joints_4,4732.3766631417275,25898997.814959094,416978998599.71075,2116399.8114968087,374304.85964652634
+Physical_Joints_5,4330.324357005342,28914726.637778267,539354529322.93604,2688767.2402846506,414417.66718452814
+Physical_Joints_6,1566.8509196419207,8163085.135174822,121971445544.76967,1186578.5971425618,203233.70307715965
+Physical_Joints_7,982.0154555396382,2962727.332796588,46141363196.41327,1079029.6381589337,113728.64876746395
+Physical_Joints_8,3198.2418234782094,21273157.140952848,405695767899.1959,2462692.6249921382,354011.5518469134
+Physical_Joints_9,0.30602715848792117,1550.3336407779934,8513339.047961581,17493.539465542508,773.8751594986992
+Physical_Joints_10,1.6980864034824998,9030.029721356193,48512541.02127914,41524.88684904861,1765.8719406681657
+Physical_Joints_11,660.5004805571319,3307809.7680984605,49275786633.739845,743895.20900393,128513.42627291905
+Physical_Joints_12,53.314407118498934,284044.44601165893,4210124139.0949097,225880.1652936909,37862.43295874693
+Physical_Joints_13,32.60442541378306,116551.86727009475,1899099233.8178725,231688.64000972972,21896.603019696977
+Physical_Joints_14,6.354051920119344,46254.28822691588,837003540.2266324,106820.6550998342,15687.481727319519
+Physical_Joints_15,65.37919014238456,347759.70304542896,5209915997.784392,246660.52137508005,42017.86338993845
+Physical_Joints_16,59.5831483059194,186330.79149522062,2952191526.110699,276380.3685666549,28455.475639097127
+Physical_Joints_17,10.339445513247217,65797.3246113798,862611623.9555784,111996.30566622363,15167.932925033561
+Physical_Joints_18,85.62637345056078,462252.97307393304,7027044828.881386,282404.04820114956,48735.791213370976
+Physical_Joints_19,61.39078307135715,196026.49564220977,3108553238.2807484,287553.9754042079,28800.43296876756
+Physical_Joints_20,8.07635370676178,46142.20541812661,505052280.26009387,77655.62312626271,12240.423394783556
+Physical_Joints_21,107.32892763109477,572380.6377159312,8898767094.39273,321156.5599635439,54538.57525301336
+Physical_Joints_22,34.614277978164395,113271.07979158213,1805322620.3982332,221592.51323076227,21674.421117464466
+Physical_Joints_23,3.889025733787852,25770.82220666297,414835989.2430349,73609.05856010198,11109.268772493619
+Physical_Joints_24,5.26254241401881,83834.59804108866,1526144168.502124,176946.8349510979,18160.457173817875
+Physical_Joints_25,0.9678796357310991,4253.342611619476,42347723.895621985,27211.00661401078,3527.3091659377037
+Physical_Joints_26,0.7390819303699738,3239.911491136886,38868903.66398616,27347.562577059154,3205.7864050309454
+Physical_Joints_27,4.865590340142963,75423.78818077917,1438828982.123428,166093.01767091316,17777.652146542106
+Physical_Joints_28,1.5113656074262443,21056.53696631282,427780081.5191313,93811.86053757722,9785.968123988041
+Physical_Joints_29,6.014434614569184,58799.94236355116,1064666281.4918672,156402.36660335658,16311.099031230877
+Physical_Joints_30,4.594044790582893,54853.84554722665,663430084.7168133,122420.44519608667,13862.26968678596
+Physical_Joints_31,4.729704786127171,28622.38697148659,442468779.6195762,82299.67531405753,12135.108396333206
+Physical_Joints_32,6.765452826177505,69136.30874835709,1185969428.1046832,159940.12238670327,16782.94063937136
+Physical_Joints_33,1.6390011420561403,23425.628914224042,445935746.08067083,93154.47035385037,9889.230776003635
+Physical_Joints_34,7.664504208076829,8048.967033793372,43086555.845910706,19079.865122390278,4684.933140501765
+Physical_Joints_35,31.4258350442262,252684.94538235982,4434776334.499402,353354.93528292386,25655.24227815118
+Physical_Joints_36,7.571428408174074,6886.574734100432,38983925.23243409,19185.392234259063,4455.524785304739
+Physical_Joints_37,990.5628441071225,5072675.154531578,71732922825.07036,1320717.5876786883,145375.16275001556
+Physical_Joints_38,1856.0159115008246,22704670.189575475,248879970239.55466,1603725.2765020963,300757.2802517956
+Physical_Joints_39,2264.6244994130366,22805588.62589556,473580317941.2854,3650925.8559475425,287617.2985997352
+Physical_Joints_40,1040.3274121972086,19377815.742705394,309740508124.7646,2982724.8514133403,265110.35409033106
+Physical_Joints_41,2922.442937383557,22428497.727644503,267971906339.85947,2015334.943413609,210793.79069441147
+Physical_Joints_42,2323.647307687489,16761659.06123698,134633216944.61482,1628563.3871321117,183716.70272256556
+Physical_Joints_43,5830.462543811428,59496026.2696182,1418673746887.1633,6196484.07087974,460689.3446726198
+Physical_Joints_44,4064.6697855390944,19698545.24489905,310000553579.99884,2907476.370738743,289048.25992722844
+Physical_Joints_45,5003.5946600726065,44926919.402440906,1054820927587.8423,3866119.9400120694,544911.5156287634
+Physical_Joints_46,5954.045144651795,48024374.587871805,1045463356289.7175,4632464.263661846,431705.2512801227
+Physical_Joints_47,969.4905778885582,5067120.1219100235,97819213597.37886,1398830.6743034585,163436.01794171685
+Physical_Joints_48,1756.2330279866967,12263690.546248496,197672632087.13742,2177677.0753997522,177157.3075170018
+Physical_Joints_49,356.2993067249815,1110446.1413847893,25486213571.612984,706244.1420682656,92272.70468962098
+Physical_Joints_50,42.821270493484434,174621.0511263823,2172266870.276422,174029.9507453227,31163.983759412466
+Physical_Joints_51,66.08159570976616,210232.92841980315,2343885346.706387,169592.2338673304,30443.18388116343
+Physical_Joints_52,3068.4500713437296,23346470.586171832,306443008840.27405,1836690.7259533547,266984.34160547704
+Physical_Joints_53,162.72745421417792,2735529.2871566545,47203649303.29066,1186275.8838539186,80805.8495302295
+Physical_Joints_54,4.199778640311526,15723.018330461387,233632643.05314136,51689.867697049965,9027.933769422416
+Physical_Joints_55,1381.7213224489637,4869402.563152037,63384166251.600586,724879.4433854625,155880.74797079453
+Physical_Joints_56,2505.8873752948434,19106325.379179128,332569553207.42773,2597792.12551654,255263.39298150066
+Physical_Joints_57,408.83106833791743,2095745.3500240138,22138102327.26049,611718.6694266347,78664.47069670344
+Physical_Joints_58,941.1709353301063,2903309.21050204,32009342091.79684,546990.6885824039,107378.82193768729
+Physical_Joints_59,448.26810662022086,4874567.280022028,66845839812.09503,1613186.132324617,75729.13025642077
+Physical_Joints_60,1067.0277943530068,10256131.511083947,200699282483.1,1626802.5273189754,190535.30491153907
+Physical_Joints_61,924.1691788069232,6997290.423114187,80120496012.22157,1196510.0130554752,142145.77045799408
+Physical_Joints_62,139.10241104193247,2329028.506613242,55139683174.132256,1124649.9208175663,76083.04889450283
+Physical_Joints_63,5.59685038884505,50186.98811233439,918656040.0077406,107596.75923153888,16580.760060533026
+Physical_Joints_64,0.4001209728658207,3955.2455070814335,77012984.97749698,29798.169822626496,5420.822310208884
+Physical_Joints_65,0.6394513966880022,4296.150015777264,69308086.15468739,31209.97621718076,4969.0956170805475
+Physical_Joints_66,5.54628927808057,58959.79516529082,907746736.1129159,107757.32174224213,17199.639333529653
+Physical_Joints_67,9.153671875253947,49264.66559985096,257057918.66962835,54516.11987691136,9149.700062393329
+Physical_Joints_68,17.25466730934152,107780.12379031452,1607461932.0517237,110287.2393287418,25943.455856458604
+Physical_Joints_69,9.210336403083456,61616.5706602155,1069673289.602412,94478.58425174544,20404.22059697693
+Physical_Joints_70,6.1248783484876235,53180.96420887655,1145636212.0737271,103115.82886035573,20757.53479531909
+Physical_Joints_71,9.002108972236677,84499.32752971773,1753084490.116608,116081.96428053739,27001.44943328232
+Physical_Joints_72,2.8601567458393378,18136.285271127013,181011048.42135674,51992.96367684533,8121.166112530305
+Physical_Joints_73,5.763076919265132,4315.474452776464,36100876.19749365,18019.798519375778,4502.0131268010155
+Physical_Joints_74,35.01656701945804,313286.91957489814,5173188874.148583,341948.33088934934,24304.85616873612
+Physical_Joints_75,5.918492265058948,7138.070131809049,59595704.74871526,31496.03709956237,4901.901426427614
+Physical_Joints_76,685.6897309461208,2053405.4932918004,31195151803.906567,441300.32080181304,123486.72110056346
+Physical_Joints_77,9376.442161407433,63010094.084431954,1271400797929.48,3205076.7028090125,750207.4962397331
+Physical_Joints_78,1297.7894874246444,10911772.620524788,223161097092.67325,1407904.5576245289,288183.54026365944
+Physical_Joints_79,3737.429405235405,47977179.69847975,1291282969127.0432,3643147.5219917274,688535.3975532458
+Physical_Joints_80,1655.2236084940369,5737798.050730284,83377970858.4816,1073663.7223410027,174485.251176011
+Physical_Joints_81,4153.977506522987,20756515.38867472,141814967554.68753,797776.4350374195,263213.1379015282
+Physical_Joints_82,1168.79053989119,5074668.738357637,75318778834.68663,840687.7995182716,170374.2991869146
+Physical_Joints_83,1688.7144679622472,19158542.348984897,472440085861.3878,1940246.7176711955,460068.42418328585
+Physical_Joints_84,419.08604015549855,3407110.9862419073,60219243122.30727,970977.4232099575,128760.57466239929
+Physical_Joints_85,177.6640138227944,941021.8629953805,11542295849.90081,353917.1296024159,62006.08494494587
+Physical_Joints_86,1094.1867683772084,9719266.45174735,232746082680.01053,2396799.9480517404,237129.64770263777
+Physical_Joints_87,393.29988979950554,3274476.302079673,72274738740.9966,1089080.91326248,135934.09737800123
+Physical_Joints_88,301.50366655751435,1830899.3236869997,35755444541.74266,464405.17845754453,125552.33180824947
+Physical_Joints_89,3.6280851478405625,20383.11441580422,449379963.72830635,62463.609857003765,14010.68689044704
+Physical_Joints_90,1385.3829403884847,12008242.418359784,207402724293.00912,1227781.6188714555,312874.3783815141
+Physical_Joints_91,2408.6981764215966,22824728.954613384,457160037659.54785,3426899.7439599237,257844.43473267247
+Physical_Joints_92,754.6289792757498,5683544.238008004,109284805717.61006,1443887.9151062858,174048.68336614862
+Physical_Joints_93,50.2088135441383,726457.8016532658,8052592347.676105,566773.7262805372,30215.34494885179
+Physical_Joints_94,352.4175349860838,3602453.4146591574,89025958993.30553,932306.0626810776,165928.1963206841
+Physical_Joints_95,1106.8396963110933,6819167.621473937,116496583142.24545,1770951.566143911,137398.93746769053
+Physical_Joints_96,358.4047534987006,5065442.115645568,126820038036.29204,1791295.4324912818,116502.63161947578
+Physical_Joints_97,1364.3593762109301,20374139.267112393,206099994242.8232,2927595.0894657336,101910.52870221293
+Physical_Joints_98,297.2391986282675,3278038.1699789823,22276348987.595497,779931.4399215806,58117.82179692545
+Physical_Joints_99,1683.7812557513212,12070871.218622118,185876086234.15842,1316771.4064584128,236180.38152022392
+Physical_Joints_100,356.27852190314974,4418306.268724284,35813027809.64682,1134100.3536126134,66025.2061188706
+Physical_Joints_101,75.5684689586204,1268880.3105705741,17349158162.37309,849643.9710946699,35166.82594768931
+Physical_Joints_102,18220.138959641914,158048625.24100837,3218100102466.0664,8869329.50118461,867902.0073672282
+Physical_Joints_103,4531.482015745024,18672814.46756088,295616999401.2888,2074766.9136297505,321194.9827421254
+Physical_Joints_104,17913.26728069802,147500743.81974924,2803272730504.5933,8730403.072006967,774794.6771394587
+Physical_Joints_105,1.565850007075918,18371.80198122222,387565560.6178696,104693.96415469369,6182.873173744418
+Physical_Joints_106,0.7166533820453654,8070.538196480907,154601412.40167418,59536.230556501745,3978.2881246314405
+Physical_Joints_107,38500.417697262405,468321420.9394052,11168088252484.59,18277904.877874985,998937.4122794828
+Physical_Joints_108,197.35630696748206,2801937.0567770083,70213627873.02707,1402202.1296999531,77361.83359014548
+Physical_Joints_109,4815.405961612859,61724516.06825471,1495717252034.639,6456956.998091532,364027.3073716074
+Physical_Joints_110,16103.0205265883,187076121.74945107,4740257360542.011,8887199.534801584,1034822.5784345638
+Physical_Joints_111,5268.377035646098,40877310.06785589,947872073706.5905,4845705.309456384,406278.6708198399
+Physical_Joints_112,8711.872781676166,45824432.41474541,572123041490.0925,3063360.858574399,293832.3902393596
+Physical_Joints_113,96.28442834874198,1158013.2787945105,27090701590.04019,877966.668916664,49974.5048221349
+Physical_Joints_114,19.978934109464873,170520.47584240482,2813563959.0675964,305645.60510992905,18495.717432476515
+Physical_Joints_115,6890.324219091199,38317789.69856357,411241199544.1908,2993217.836615604,250412.00865316213
+Physical_Joints_116,11252.796297609268,173522503.93098566,4138128530384.7144,9427887.113148097,947359.5268779073
+Physical_Joints_117,4968.228329656521,21865800.52197503,333722140327.57556,2778437.6438770145,302433.21273988695
+Physical_Joints_118,11002.012746625027,56106462.63721738,816699322582.716,2726557.401762273,559754.814917365
+Physical_Joints_119,1.593627080663347,15367.854634310466,322999002.385101,76682.11594456201,6783.157069350883
+Physical_Joints_120,0.5455919865573386,4494.156814207329,94091797.88343553,46108.5912571141,4155.397383935034
+Physical_Joints_121,34876.70204471254,395354210.3799463,9281829014534.59,14075071.938129432,1086597.9647125679
+Physical_Joints_122,166.60491830516787,2048871.4333675464,47991444480.7321,1028585.9855338997,65357.20268837872
+Physical_Joints_123,3892.7401367991038,44638026.22753991,1027266152846.4375,4702553.916293315,326491.5444226301
+Physical_Joints_124,28315.77618857838,326362141.8213502,6365226839052.715,9552680.954322737,1372633.0179466666
+Physical_Joints_125,11845.23759897017,93012411.11488876,1566887188099.8179,5906290.123643093,619070.208574725
+Physical_Joints_126,10557.723710934251,136787546.59552673,3560260444631.411,10099795.758025432,541165.4793243239
+Physical_Joints_127,93.51980767591269,940096.4386467234,20011020695.123985,655749.5338445611,46695.86034985836
+Physical_Joints_128,38.51199369375617,415857.07361400087,7787123108.096988,424116.01666493004,34386.49612904271
+Physical_Joints_129,10764.151636449595,65605012.839310676,1111811754512.5999,3840849.299679281,472469.90394945705
diff --git a/data/sac/sac_sidestep_checkpoints/best_model.zip b/data/sac/sac_sidestep_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..4e2d06536b19e9863d1790a50bd45337d754bed8
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24929cafba97a011db2eb71be50bda95465b7771222e85c6748c710983d17f7c
+size 158053682
diff --git a/data/sac/sac_sidestep_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_sidestep_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c79b6daad6817afdadbbf4d8ba41b65a7ed4348
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff9e628598ac0e057973b580406360bc170e125f49e1b56bc75792d8885ae6ac
+size 330646
diff --git a/data/sac/sac_sidestep_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_sidestep_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..10f0d852c099d6b340f36d8858fea46be1ef9f7a
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c12efb92f36f4adcd641b1d85e3cbe9b1c754e2483d95876ee7accf5a41b54fb
+size 390989
diff --git a/data/sac/sac_sidestep_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_sidestep_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..d41ff4b3b661ab3b9b3f6a53d001673739a28aac
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8068142ee9e1eb5923066998ca099e223ac81bf11d6e1d54890845c597558679
+size 640771
diff --git a/data/sac/sac_sidestep_checkpoints/vec_normalize.pkl b/data/sac/sac_sidestep_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c0fdab07847653ba6f03672ded289bac1d61aeef
--- /dev/null
+++ b/data/sac/sac_sidestep_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aadd6b9c1195d2500432da461174afb10a1610ed1cc2fac6b26b7ea71214c793
+size 304389
diff --git a/data/sac/sac_sidestep_logs/SAC_1/events.out.tfevents.1778737945.discover-01.1190230.0 b/data/sac/sac_sidestep_logs/SAC_1/events.out.tfevents.1778737945.discover-01.1190230.0
new file mode 100644
index 0000000000000000000000000000000000000000..2157ce530bc9c60bc2d76346af19105b3cb88460
--- /dev/null
+++ b/data/sac/sac_sidestep_logs/SAC_1/events.out.tfevents.1778737945.discover-01.1190230.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab799a27ee95ba26cbc9bdbb2a64605a63b9e5ff1c652f776aa5abf98073b53
+size 16859370
diff --git a/data/sac/sac_sidestep_logs/eval_logs/evaluations.npz b/data/sac/sac_sidestep_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a4fd1a9142c95628e945f19807bb2fc9e06ea54
--- /dev/null
+++ b/data/sac/sac_sidestep_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95af2d3906d59a49f69043dd86d9ee0d1f040c66ed11f26ce28d42103c3e1824
+size 52682
diff --git a/data/sac/sac_singlelegstance_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_singlelegstance_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9c272d2bc94055e695e0a1fe4dce150a7f34cfb
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,13.969745,230400.8,5435720700.0,1834857.5,8609.583
+Muscle_Actions_1,10.775819,133278.94,3640517400.0,1354283.9,8158.481
+Muscle_Actions_2,11.437658,137832.19,3048975400.0,1113172.2,8670.2295
+Muscle_Actions_3,8.370628,163987.36,4593045500.0,1308304.4,9083.846
+Muscle_Actions_4,8.262237,99655.07,3025182000.0,793680.56,8470.753
+Muscle_Actions_5,14.023999,171816.95,4130491100.0,1238108.6,8234.167
+Muscle_Actions_6,4.20651,26354.986,428353630.0,351578.12,4748.3213
+Muscle_Actions_7,2.5863042,24761.07,565989250.0,454762.6,4400.233
+Muscle_Actions_8,12.703076,118644.44,2343021300.0,1099047.8,6517.961
+Muscle_Actions_9,7.2536716,77413.45,1718718500.0,821709.4,6883.3984
+Muscle_Actions_10,2.9807417,25072.645,596045440.0,476459.16,4577.945
+Muscle_Actions_11,5.235811,74781.79,1965442000.0,720632.0,6264.294
+Muscle_Actions_12,6.173061,103009.46,3127430400.0,1004476.56,7937.147
+Muscle_Actions_13,6.8536716,42266.72,696965570.0,430119.28,4710.4443
+Muscle_Actions_14,12.394346,170975.7,3876266000.0,1136139.5,9050.345
+Muscle_Actions_15,7.1414843,53238.445,1210919300.0,586009.1,6655.7124
+Muscle_Actions_16,6.854215,79433.54,2221307400.0,721154.1,7122.8174
+Muscle_Actions_17,7.289343,111563.51,2938811400.0,1046674.9,8087.962
+Muscle_Actions_18,8.078406,77676.555,1665035000.0,761418.4,6101.7383
+Muscle_Actions_19,3.7740662,57239.426,1606466000.0,608743.7,7739.415
+Muscle_Actions_20,16.982197,333261.72,10216494000.0,2290400.5,10366.146
+Muscle_Actions_21,3.869946,66890.56,1847125100.0,865389.8,6373.074
+Muscle_Actions_22,2.2493055,16366.552,294307040.0,176617.86,4903.0903
+Muscle_Actions_23,2.9312153,20236.725,391673300.0,346904.88,5291.9756
+Muscle_Actions_24,14.452718,196417.25,4713682400.0,1165759.6,10351.777
+Muscle_Actions_25,2.3927743,14374.665,348436830.0,216861.84,4686.1353
+Muscle_Actions_26,8.837739,64699.402,891627500.0,500352.3,5548.903
+Muscle_Actions_27,11.392552,191548.17,5065337300.0,1231445.2,9063.64
+Muscle_Actions_28,6.159785,57433.973,1243268500.0,662876.94,6537.808
+Muscle_Actions_29,3.7135358,34083.81,676873100.0,543878.44,3706.1492
+Muscle_Actions_30,9.20778,172597.22,4934454300.0,1359484.6,8992.617
+Muscle_Actions_31,1.1021557,12231.776,309593800.0,365638.72,2727.1235
+Muscle_Actions_32,5.7508755,83168.4,2222019600.0,844820.0,7966.8745
+Muscle_Actions_33,6.409818,46872.2,1014379200.0,494416.25,5024.167
+Muscle_Actions_34,5.860974,66161.82,1579806800.0,657471.7,5650.0327
+Muscle_Actions_35,13.217808,108786.82,2200027000.0,727960.5,6781.3306
+Muscle_Actions_36,10.816379,180255.06,4712971300.0,1611881.0,8879.919
+Muscle_Actions_37,2.7402732,39150.996,1110425600.0,634601.2,5165.899
+Muscle_Actions_38,10.093796,60895.668,1045756160.0,524744.5,4888.0825
+Muscle_Actions_39,7.1593447,95917.484,2586851000.0,807208.56,8132.0244
+Muscle_Actions_40,6.2829194,85588.97,1994560600.0,884994.2,6098.2046
+Muscle_Actions_41,4.7498393,44964.953,973240770.0,464412.7,6739.5024
+Muscle_Actions_42,5.9315395,90690.78,2436229000.0,866199.9,7255.6826
+Muscle_Actions_43,6.8079586,49419.117,1130342000.0,487447.5,7001.2134
+Muscle_Actions_44,12.740536,104950.94,1714880900.0,631793.5,6550.2505
+Muscle_Actions_45,6.069487,124900.016,4017253600.0,1301298.2,6701.326
+Muscle_Actions_46,10.458902,90704.52,1885441000.0,754756.94,8478.31
+Muscle_Actions_47,11.661486,165220.52,3818240000.0,1292105.5,8438.257
+Muscle_Actions_48,3.2856119,58888.617,1700043000.0,769470.25,7461.9844
+Muscle_Actions_49,2.7037537,29792.93,654656100.0,348984.2,5496.341
+Muscle_Actions_50,4.358271,36395.113,844517760.0,433027.28,5270.7354
+Muscle_Actions_51,6.9702187,87014.98,2443906800.0,934667.7,7056.994
+Muscle_Actions_52,5.157224,37070.453,731791100.0,417310.0,4497.8457
+Muscle_Actions_53,8.05149,95753.13,2706186200.0,790687.56,6924.9854
+Muscle_Actions_54,5.6456957,40573.76,687236740.0,436737.72,4596.427
+Muscle_Actions_55,4.845698,49939.637,1319900200.0,629634.1,5563.393
+Muscle_Actions_56,6.0647154,68683.19,1363989500.0,717274.06,7304.578
+Muscle_Actions_57,7.2638984,124048.305,2990211300.0,815172.25,8920.335
+Muscle_Actions_58,5.177615,81751.945,2129928100.0,1024119.6,6062.8633
+Muscle_Actions_59,6.002019,50641.863,1010889200.0,558788.1,5135.397
+Muscle_Actions_60,4.211946,64964.48,1465521000.0,594073.2,7224.6763
+Muscle_Actions_61,4.155325,69952.445,2336169200.0,705112.3,8035.7944
+Muscle_Actions_62,3.2002814,26943.824,513037500.0,299715.62,4631.3506
+Muscle_Actions_63,2.3528452,24378.398,517494560.0,357097.75,4130.0186
+Muscle_Actions_64,5.0554357,54029.465,1159697900.0,694923.4,5315.6245
+Muscle_Actions_65,5.211799,75139.266,1812869200.0,785521.5,7614.3555
+Muscle_Actions_66,3.8366907,28082.549,613085600.0,402294.16,6268.0244
+Muscle_Actions_67,4.753345,55170.656,1231351400.0,555967.56,6288.697
+Muscle_Actions_68,8.487893,114133.88,2920358100.0,623565.3,10307.445
+Muscle_Actions_69,2.8711445,28058.578,555256450.0,273299.1,4671.5073
+Muscle_Actions_70,3.6379488,63081.59,1695417700.0,698748.5,5398.7515
+Muscle_Actions_71,8.472457,81251.75,1969513700.0,812724.1,6221.719
+Muscle_Actions_72,5.8856716,41099.652,864798700.0,425052.06,4948.397
+Muscle_Actions_73,10.347653,111696.84,2133900300.0,960689.9,6650.918
+Muscle_Actions_74,7.3476386,37491.81,499109500.0,325860.8,4602.2456
+Muscle_Actions_75,8.069009,115449.64,2706152700.0,840785.0,8388.859
+Muscle_Actions_76,15.203868,200048.33,5524589000.0,1615303.2,9483.884
+Muscle_Actions_77,4.7482514,35323.504,704844000.0,450827.97,3651.3403
+Muscle_Actions_78,3.3968,36383.43,761311800.0,444119.56,4753.7466
+Muscle_Actions_79,8.859644,71169.42,1351491500.0,636217.75,6507.3545
+Muscle_Actions_80,9.186585,156084.06,4022302200.0,1236208.0,9265.76
+Muscle_Actions_81,4.733304,92028.61,2648707300.0,954873.56,7179.4624
+Muscle_Actions_82,4.444067,55646.61,1515407600.0,693756.4,6039.8335
+Muscle_Actions_83,6.591884,41837.19,711448600.0,371455.66,4544.104
+Muscle_Actions_84,5.8068905,82825.42,2486908400.0,767441.6,7788.4043
+Muscle_Actions_85,8.331625,115794.914,3077443800.0,984857.2,7397.733
+Muscle_Actions_86,7.8484945,90894.88,2341984000.0,703716.4,7007.1875
+Muscle_Actions_87,8.407801,50941.38,1111857700.0,669598.94,4966.971
+Muscle_Actions_88,8.331202,64481.76,1080463500.0,544927.1,5130.794
+Muscle_Actions_89,7.03318,104772.23,2605481000.0,1102609.9,5705.916
+Muscle_Actions_90,7.937246,92491.17,2383455700.0,676386.44,7611.5244
+Muscle_Actions_91,9.464388,122243.28,2639935500.0,837000.0,7703.9805
+Muscle_Actions_92,6.0401692,50625.53,1507597700.0,553822.25,6059.762
+Muscle_Actions_93,15.488099,98582.38,1476220000.0,560584.06,7319.829
+Muscle_Actions_94,6.5746164,94508.05,1993228800.0,654132.5,7238.1274
+Muscle_Actions_95,6.3513885,58480.65,1139927200.0,696906.44,5891.3477
+Muscle_Actions_96,6.2035,76777.734,2090298000.0,784510.0,6407.251
+Muscle_Actions_97,5.70195,47128.426,825443140.0,494265.7,4713.5396
+Muscle_Actions_98,8.953817,149781.19,3995866400.0,1460413.5,7528.63
+Muscle_Actions_99,4.1499143,41336.5,822756100.0,338422.78,5866.812
+Muscle_Actions_100,8.17271,79948.89,1941626200.0,864929.94,6891.4785
+Muscle_Actions_101,5.0282474,27727.469,604522750.0,339927.44,4132.173
+Muscle_Actions_102,10.858417,153082.06,3979235000.0,1066600.9,9096.096
+Muscle_Actions_103,3.8350132,56596.68,1307330300.0,682134.1,5738.3955
+Muscle_Actions_104,9.421918,74207.58,1629333500.0,714321.5,6446.481
+Muscle_Actions_105,3.3197985,33684.62,740426200.0,444406.7,4370.5083
+Muscle_Actions_106,5.494554,77191.39,2037386100.0,845591.4,6778.8833
+Muscle_Actions_107,4.508587,58202.85,1461174900.0,627514.5,6127.7104
+Muscle_Actions_108,9.489187,151881.84,4237493800.0,1058465.6,9514.725
+Muscle_Actions_109,6.708017,42630.242,797021000.0,443896.9,5462.966
+Muscle_Actions_110,22.06233,246280.75,5637520400.0,1246346.5,9886.835
+Muscle_Actions_111,9.842527,67523.34,1292138800.0,478641.28,6396.2886
+Muscle_Actions_112,5.897375,94897.77,2529041700.0,1026833.3,6979.92
+Muscle_Actions_113,18.35512,179208.3,4054525400.0,1424481.4,9443.544
+Muscle_Actions_114,7.8883142,69807.836,1428776000.0,758694.6,7061.837
+Muscle_Actions_115,14.931601,200416.23,5450508300.0,1444029.2,8823.126
+Muscle_Actions_116,21.458117,210577.9,4295773700.0,1430316.6,7546.64
+Muscle_Actions_117,11.89715,212247.03,6044713500.0,1341302.1,10685.042
+Muscle_Actions_118,6.170857,77486.14,1764916900.0,787161.2,5874.9243
+Muscle_Actions_119,13.396338,120693.34,1732798200.0,857248.8,6324.38
+Muscle_Actions_120,6.9694905,101153.086,2651030500.0,808758.6,7630.551
+Muscle_Actions_121,7.8885117,55501.297,1169673000.0,700037.5,5332.394
+Muscle_Actions_122,10.1609535,92982.016,2029292800.0,833781.8,7659.184
+Muscle_Actions_123,13.242355,112683.88,1974861700.0,899620.75,7023.6436
+Muscle_Actions_124,1.5037184,26798.602,799544400.0,519578.34,4869.5254
+Muscle_Actions_125,3.6057682,48465.67,1312908900.0,608200.3,6292.53
+Muscle_Actions_126,2.874073,28345.736,594761500.0,348127.84,4977.7764
+Muscle_Actions_127,6.803254,72286.98,1622526000.0,639509.3,7482.46
+Muscle_Actions_128,4.2542963,74713.62,2011525100.0,782905.3,6567.4604
+Muscle_Actions_129,9.514767,129743.914,3258867000.0,973563.8,8438.607
+Muscle_Actions_130,7.240146,69759.32,1394327400.0,538985.1,6471.001
+Muscle_Actions_131,4.341358,28217.412,579374700.0,329522.84,4672.5737
+Muscle_Actions_132,6.110556,25713.49,461689200.0,248628.86,4258.8804
+Muscle_Actions_133,10.285318,104579.484,2674268200.0,1039210.06,8875.198
+Muscle_Actions_134,4.5994787,79543.37,1849946900.0,602338.06,6809.938
+Muscle_Actions_135,10.007561,215201.97,6594152400.0,1643459.1,8453.743
+Muscle_Actions_136,13.322729,235505.14,6695084500.0,1744228.6,8879.964
+Muscle_Actions_137,7.6864753,105090.43,2471527000.0,642440.8,7888.2085
+Muscle_Actions_138,8.968559,122216.37,3358689500.0,1041267.9,7936.035
+Muscle_Actions_139,5.074571,46976.35,1060098700.0,548831.0,6392.216
+Muscle_Actions_140,6.3487244,83794.85,1870184200.0,707166.56,5925.8486
+Muscle_Actions_141,4.4305573,34804.586,863063100.0,390496.5,5645.174
+Muscle_Actions_142,10.370522,87450.76,1971065600.0,850621.4,6363.0034
+Muscle_Actions_143,3.2744823,49351.418,1109093100.0,650660.25,5294.992
+Muscle_Actions_144,6.066779,71344.45,1589881000.0,956699.9,4927.729
+Muscle_Actions_145,14.1920185,135428.1,2819517200.0,1110462.8,7126.688
+Muscle_Actions_146,8.781807,92377.6,2154766800.0,739794.0,7022.4326
+Muscle_Actions_147,10.78841,130040.27,2951289600.0,1088742.5,8229.082
+Muscle_Actions_148,4.8162184,90066.28,2738958600.0,1074421.5,5844.5034
+Muscle_Actions_149,10.57428,88534.695,1526036000.0,540055.94,7019.7246
+Muscle_Actions_150,13.832836,150439.58,3876101000.0,1308147.0,8284.14
+Muscle_Actions_151,15.194486,133996.55,2023813200.0,686578.3,7516.799
+Muscle_Actions_152,7.526986,103371.29,2785682200.0,949091.94,7308.013
+Muscle_Actions_153,12.153017,135442.98,2610657500.0,1109272.9,5835.279
+Muscle_Actions_154,7.507176,78555.75,1820267400.0,861025.94,6733.1543
+Muscle_Actions_155,7.3973727,104412.164,2550225700.0,926261.2,7450.2417
+Muscle_Actions_156,6.489097,87435.16,2475920000.0,865697.9,9655.055
+Muscle_Actions_157,6.122239,112189.51,3166588200.0,1350638.4,5331.08
+Muscle_Actions_158,8.833216,113405.195,3070014700.0,752263.2,8817.7705
+Muscle_Actions_159,5.868647,65422.254,1402129800.0,631569.4,6691.9927
+Muscle_Actions_160,2.6771727,35751.59,932899260.0,626628.06,5212.3125
+Muscle_Actions_161,3.573584,71657.914,2167536000.0,852233.94,7026.8174
+Muscle_Actions_162,2.4752145,17834.326,464679870.0,266751.4,4019.4143
+Muscle_Actions_163,5.1121893,87908.72,2205098500.0,991233.5,6573.3374
+Muscle_Actions_164,2.801208,21818.504,475843420.0,442116.75,3688.187
+Muscle_Actions_165,6.7969327,72116.63,1690232000.0,856931.56,6701.9565
+Muscle_Actions_166,5.036648,45001.527,948533500.0,409009.8,5825.689
+Muscle_Actions_167,9.136434,140172.19,3641723600.0,1000467.75,8512.07
+Muscle_Actions_168,8.280844,99874.91,2515780400.0,1028897.06,5580.7485
+Muscle_Actions_169,9.480133,150324.95,3630207700.0,1243145.5,8648.647
+Muscle_Actions_170,3.648611,34581.895,870601900.0,517095.8,4945.1353
+Muscle_Actions_171,6.8882494,63377.113,1720518100.0,843905.44,6203.4326
+Muscle_Actions_172,8.694279,106689.445,2370539000.0,1141122.6,7039.8403
+Muscle_Actions_173,8.127776,137692.97,3782481200.0,1153572.5,7670.341
+Muscle_Actions_174,5.3265133,117125.164,3492693800.0,1323301.8,6617.0005
+Muscle_Actions_175,4.3434396,48380.223,857634240.0,350957.8,5243.902
+Muscle_Actions_176,6.796815,92809.33,2162429200.0,818672.25,7188.996
+Muscle_Actions_177,4.7210183,66683.51,1692882400.0,615915.44,6533.6143
+Muscle_Actions_178,11.961631,123375.875,2574958300.0,1251492.4,7545.586
+Muscle_Actions_179,4.2559257,68507.734,2118306300.0,777433.6,7117.2183
+Muscle_Actions_180,2.8290932,35055.188,874200060.0,477400.44,5334.335
+Muscle_Actions_181,4.373256,34043.707,737882100.0,421691.12,5424.7227
+Muscle_Actions_182,4.8330574,49748.984,1069515970.0,508813.75,6133.2173
+Muscle_Actions_183,3.2887118,27572.46,633921900.0,356160.22,5725.5796
+Muscle_Actions_184,6.5882154,70595.3,1739104800.0,691130.3,6227.4175
+Muscle_Actions_185,14.816686,141378.14,2147683300.0,925853.25,5516.1714
+Muscle_Actions_186,13.355459,79090.28,1731016200.0,1106140.5,5139.2476
+Muscle_Actions_187,11.484615,150995.06,4019776300.0,1471024.0,7473.64
+Muscle_Actions_188,8.52912,118566.73,2868639200.0,1338601.6,6618.8325
+Muscle_Actions_189,9.282263,142200.4,3283458600.0,1333276.0,8162.758
+Muscle_Actions_190,11.935985,205458.06,5812880000.0,1655991.5,10135.716
+Muscle_Actions_191,12.066849,168161.98,3549512000.0,1263792.9,8306.555
+Muscle_Actions_192,7.258188,160962.64,5327243300.0,1490573.9,9123.726
+Muscle_Actions_193,3.1212616,34608.652,847871000.0,436725.16,5092.428
+Muscle_Actions_194,14.695251,156538.03,3331524400.0,1022804.25,9285.955
+Muscle_Actions_195,9.103463,80250.49,1404513700.0,669451.75,5825.5127
+Muscle_Actions_196,4.7890577,57817.355,1521967400.0,598524.94,6920.1377
+Muscle_Actions_197,3.23594,49151.88,1064868600.0,499331.25,5519.831
+Muscle_Actions_198,6.4630685,52379.613,958519040.0,444419.44,5311.463
+Muscle_Actions_199,7.4286966,128204.055,3458469400.0,1451302.0,6544.7534
+Muscle_Actions_200,10.897363,221640.34,6181057500.0,1754846.6,10899.091
+Muscle_Actions_201,12.110219,96756.164,1842210800.0,719094.4,8715.411
+Muscle_Actions_202,18.94666,348559.3,9653245000.0,2175603.8,12154.657
+Muscle_Actions_203,6.9798975,43379.113,680038700.0,330546.84,4474.104
+Muscle_Actions_204,6.76968,103291.21,2311099000.0,753705.1,7925.5034
+Muscle_Actions_205,8.589145,74641.21,1418315600.0,510894.12,6874.7334
+Muscle_Actions_206,11.521418,135818.11,3681650200.0,916411.75,10462.429
+Muscle_Actions_207,10.650013,132024.23,3060131000.0,835878.6,7520.086
+Muscle_Actions_208,5.0574036,81546.01,2394680000.0,1053198.0,6826.7153
+Muscle_Actions_209,8.945928,116689.98,2387978500.0,683905.75,8056.0645
+Muscle_Actions_210,18.585676,366045.84,10230360000.0,1662694.0,13224.205
+Muscle_Actions_211,13.389539,260285.9,7232778000.0,1386535.4,10981.382
+Muscle_Actions_212,13.993764,191566.6,4859085000.0,1104647.5,10676.55
+Muscle_Actions_213,12.760574,90250.19,1753541400.0,589319.1,8704.879
+Muscle_Actions_214,20.91031,307862.7,7664792600.0,1548183.6,12935.773
+Muscle_Actions_215,11.47544,118984.984,2702609400.0,925935.06,8374.882
+Muscle_Actions_216,26.823372,226749.69,5131536000.0,1508343.8,10649.8955
+Muscle_Actions_217,18.242577,208853.55,5077439000.0,1363287.5,9997.28
+Muscle_Actions_218,14.351049,124577.336,2190067000.0,739261.75,10548.201
+Muscle_Actions_219,9.739352,43814.723,754881150.0,331370.47,6370.8643
+Muscle_Actions_220,3.8639348,50617.113,1361965200.0,732154.0,4843.1685
+Muscle_Actions_221,7.7716637,154389.58,4250538000.0,1348255.9,6960.5083
+Muscle_Actions_222,0.97847295,4960.0015,128110570.0,117713.336,3567.3152
+Muscle_Actions_223,0.45579234,2819.4734,84973510.0,88301.54,3249.206
+Muscle_Actions_224,17.484913,192082.14,4523252000.0,1934215.2,3027.7373
+Muscle_Actions_225,19.204922,225971.48,5420951000.0,2047041.0,3892.8052
+Muscle_Actions_226,18.541037,307763.44,8460981000.0,1698604.4,12325.732
+Muscle_Actions_227,43.095127,698041.94,20187554000.0,2256375.2,20932.834
+Muscle_Actions_228,13.897386,178834.88,4563769000.0,1280761.0,10940.864
+Muscle_Actions_229,8.831688,122101.88,2957019400.0,999732.9,9931.046
+Muscle_Actions_230,13.48945,233387.33,6810214000.0,1353723.8,10855.728
+Muscle_Actions_231,17.760572,253680.8,6418518500.0,1575861.8,10691.399
+Muscle_Actions_232,9.501912,127848.21,3262907600.0,888047.5,10071.109
+Muscle_Actions_233,19.587269,267700.28,7060463000.0,1370364.5,10836.396
+Muscle_Actions_234,8.088592,77550.95,1956993400.0,1062448.4,5852.036
+Muscle_Actions_235,18.078054,140609.12,3244056000.0,1084465.1,9409.367
+Muscle_Actions_236,16.267797,88981.0,1809718500.0,669902.9,8567.224
+Muscle_Actions_237,11.71942,112339.805,2769525000.0,879752.06,8044.672
+Muscle_Actions_238,12.15145,77144.07,1158718500.0,567103.4,5160.8
+Muscle_Actions_239,26.257479,302508.47,7953378300.0,1625542.5,14249.811
+Muscle_Actions_240,9.3684635,113762.2,2932584400.0,1079662.9,8050.54
+Muscle_Actions_241,42.642212,447739.9,10809826000.0,2394440.8,14535.485
+Muscle_Actions_242,24.165865,247256.14,6058456000.0,1770245.1,11893.64
+Muscle_Actions_243,0.020584425,292.148,9228754.0,29302.775,950.35016
+Muscle_Actions_244,9.177202,134366.31,3260051500.0,897634.9,9914.716
+Muscle_Actions_245,1.2025577,9180.157,287911740.0,328907.12,3417.012
+Muscle_Actions_246,19.675571,317342.7,8449741300.0,1675641.1,11528.268
+Muscle_Actions_247,26.189592,245689.98,4862790000.0,1142584.6,9686.348
+Muscle_Actions_248,0.017683286,262.65427,5237781.5,50763.727,206.11682
+Muscle_Actions_249,13.289467,68149.77,1184721000.0,498333.16,6962.3335
+Muscle_Actions_250,14.679845,215496.98,4954602500.0,1342145.1,12317.219
+Muscle_Actions_251,27.977745,213796.3,3304208100.0,1107780.5,11395.213
+Muscle_Actions_252,13.049463,82865.625,1694830800.0,621917.7,7976.531
+Muscle_Actions_253,12.386921,141800.9,3231164400.0,1238117.4,9234.949
+Muscle_Actions_254,10.2037,87814.91,1928160300.0,636738.75,9312.769
+Muscle_Actions_255,9.196133,119757.58,2518367500.0,810435.9,10814.248
+Muscle_Actions_256,12.285859,237527.95,6750868500.0,1308971.6,11044.836
+Muscle_Actions_257,8.56722,51232.7,1031749200.0,520321.2,6069.96
+Muscle_Actions_258,11.817068,114205.36,2689331200.0,1026907.56,7517.4883
+Muscle_Actions_259,5.675231,37770.195,874451700.0,483293.4,5251.6997
+Muscle_Actions_260,9.923267,79036.13,1488008700.0,595434.2,6307.617
+Muscle_Actions_261,6.407971,44624.83,1155194100.0,446493.34,6321.867
+Muscle_Actions_262,3.574166,28975.6,289661020.0,326778.06,1936.7853
+Muscle_Actions_263,2.1634758,16625.768,127348370.0,344194.53,502.87173
+Muscle_Actions_264,10.788766,56060.4,842624100.0,573545.94,4163.412
+Muscle_Actions_265,19.27471,134016.44,2210559200.0,615646.75,10471.514
+Muscle_Actions_266,15.388652,142510.52,2911756800.0,768601.75,9549.041
+Muscle_Actions_267,15.681912,145652.84,3446675500.0,1086638.8,9613.991
+Muscle_Actions_268,10.701109,131787.44,2638166300.0,983349.5,7614.4604
+Muscle_Actions_269,37.629616,336967.88,5606436400.0,1193248.5,12539.425
+Muscle_Actions_270,18.723934,154411.94,3124711700.0,1099925.5,8709.61
+Muscle_Actions_271,8.998288,102202.75,3001522400.0,950523.9,8133.059
+Muscle_Actions_272,2.3287556,20485.93,430708900.0,261884.62,4083.4626
+Muscle_Actions_273,13.726606,203378.11,5005299700.0,1448110.9,9914.152
+Muscle_Actions_274,19.319115,113065.336,2347830800.0,837671.8,8081.5415
+Muscle_Actions_275,5.5967536,100136.72,2598822700.0,992897.7,8543.087
+Muscle_Actions_276,9.259201,44682.367,670136300.0,410469.78,4387.1396
+Muscle_Actions_277,14.854563,157319.42,3662568200.0,1365096.6,9194.403
+Muscle_Actions_278,19.892899,181559.17,4424555000.0,1404892.2,8904.966
+Muscle_Actions_279,28.028496,286168.66,6281609000.0,1428595.8,10803.689
+Muscle_Actions_280,19.69017,331172.1,9864905000.0,2182679.8,10864.752
+Muscle_Actions_281,11.903923,166800.27,4424916000.0,1442701.4,8715.443
+Muscle_Actions_282,10.627326,80437.95,1589532500.0,617888.56,6341.0786
+Muscle_Actions_283,6.7631054,47678.883,881937860.0,536642.25,5545.6606
+Muscle_Actions_284,14.689628,77053.586,1345996200.0,578422.1,5827.0483
+Muscle_Actions_285,5.5739546,24529.475,579828000.0,382407.06,3704.0793
+Muscle_Actions_286,0.45556256,4965.034,130282340.0,167415.14,2153.296
+Muscle_Actions_287,16.812475,100043.17,1544946300.0,851250.75,7296.8813
+Muscle_Actions_288,12.79466,234630.19,6926834000.0,2053565.0,10908.318
+Muscle_Actions_289,6.3560195,102127.24,3028817000.0,1195205.0,8441.339
+Muscle_Actions_290,2.6935058,46473.67,1240319900.0,784579.2,4339.336
+Muscle_Actions_291,2.1994815,25742.65,606202750.0,396701.62,4486.7153
+Muscle_Actions_292,4.045525,46768.38,997852100.0,582701.8,5121.6826
+Muscle_Actions_293,4.067967,37777.32,663310660.0,375745.53,5066.36
+Muscle_Actions_294,7.549889,104383.734,2439329800.0,896414.8,6578.6353
+Muscle_Actions_295,3.279736,27531.69,448397540.0,295196.06,4201.9204
+Muscle_Actions_296,5.4226675,72556.04,1737949700.0,672930.5,7021.212
+Muscle_Actions_297,3.6445026,27918.506,642656300.0,383387.03,5001.924
+Muscle_Actions_298,9.583199,102957.85,2062794200.0,917744.7,6485.2856
+Muscle_Actions_299,16.052425,188416.25,3468232400.0,1380022.8,9516.869
+Muscle_Actions_300,13.753723,117301.484,2326543600.0,1021928.44,6566.6763
+Muscle_Actions_301,4.5376225,49193.27,1086770300.0,588234.8,6072.7495
+Muscle_Actions_302,6.253129,49332.453,1134011500.0,548204.06,5336.711
+Muscle_Actions_303,11.3373785,102548.07,1917129100.0,950305.6,4978.111
+Muscle_Actions_304,5.2976356,29489.248,536640100.0,365992.06,4291.8115
+Muscle_Actions_305,0.10040158,126.96722,1739030.9,22995.115,186.01254
+Muscle_Actions_306,2.1160643,4099.684,106359320.0,199824.75,1407.9196
+Muscle_Actions_307,2.6078527,13563.502,229684510.0,214307.67,3450.6223
+Muscle_Actions_308,15.898934,205599.62,5024372700.0,1392231.0,7352.7656
+Muscle_Actions_309,11.8714905,207109.72,5509658000.0,1597420.0,9998.994
+Muscle_Actions_310,18.852015,188541.19,4321681400.0,1650113.1,8802.49
+Muscle_Actions_311,2.0609589,17101.736,396702500.0,287415.97,3900.7246
+Muscle_Actions_312,0.11577925,2205.3901,53886776.0,137944.94,1140.2465
+Muscle_Actions_313,11.422719,142411.72,3333172200.0,1402036.5,7348.3916
+Muscle_Actions_314,8.122375,81353.734,1758649100.0,847408.9,7160.225
+Muscle_Actions_315,0.83572197,9507.575,238088850.0,249358.12,3176.1912
+Muscle_Actions_316,1.2453398,11560.123,213232700.0,177629.95,2975.2075
+Muscle_Actions_317,10.1769905,66735.73,1289209000.0,540037.0,7448.302
+Muscle_Actions_318,29.22969,248002.81,4508621300.0,1439204.2,9766.326
+Muscle_Actions_319,10.639028,106953.31,3108172800.0,959632.94,7079.9243
+Muscle_Actions_320,6.6077237,45128.016,1041139840.0,537668.56,6346.4253
+Muscle_Actions_321,10.1220665,158499.55,4063643000.0,1600494.1,8264.555
+Muscle_Actions_322,3.9497302,33677.848,664918200.0,506263.1,3686.5198
+Muscle_Actions_323,3.3901758,75404.63,2276609300.0,1142162.5,4460.3633
+Muscle_Actions_324,0.012145581,162.63303,4620889.0,40274.383,381.96564
+Muscle_Actions_325,0.09015866,1186.4707,29147890.0,96877.76,862.9254
+Muscle_Actions_326,5.8144093,35017.58,813122600.0,322684.06,5691.844
+Muscle_Actions_327,0.06918664,980.7762,21770100.0,85767.87,925.42255
+Muscle_Actions_328,0.030534705,274.16052,6891924.0,36657.87,587.77655
+Muscle_Actions_329,0.04330667,655.1356,16321685.0,62600.73,689.0272
+Muscle_Actions_330,18.860374,262602.2,6708540000.0,1676252.9,10931.416
+Muscle_Actions_331,7.7068896,95656.68,2363955000.0,1015439.06,5415.902
+Muscle_Actions_332,0.62178403,7247.0547,150792750.0,254887.7,1564.7078
+Muscle_Actions_333,0.15359014,1262.2495,25029418.0,57243.465,1359.7998
+Muscle_Actions_334,12.157503,116841.13,2061114800.0,922340.4,5791.8735
+Muscle_Actions_335,0.8168762,6951.676,147682270.0,196389.2,2647.9067
+Muscle_Actions_336,2.2443902,21883.031,510690620.0,524123.2,3953.9817
+Muscle_Actions_337,3.6324,26189.408,604337540.0,434832.4,4615.122
+Muscle_Actions_338,19.466866,136922.75,2833222700.0,1077686.1,7793.0103
+Muscle_Actions_339,8.740429,96978.47,2695585000.0,756962.7,9768.662
+Muscle_Actions_340,10.05928,108295.375,2819345000.0,1160598.5,6485.3193
+Muscle_Actions_341,6.3617926,80486.15,1861788800.0,821063.94,7105.777
+Muscle_Actions_342,6.707538,34544.836,716049500.0,339792.38,4550.712
+Muscle_Actions_343,6.724132,81393.86,1763770500.0,691054.56,6578.3857
+Muscle_Actions_344,6.946535,47855.94,1151775200.0,355518.16,7745.5938
+Muscle_Actions_345,7.551387,53193.805,1163267300.0,655042.2,5596.633
+Muscle_Actions_346,9.198654,77157.42,1214332000.0,439647.2,5874.979
+Muscle_Actions_347,9.327399,97500.516,1681482600.0,599382.4,7081.5786
+Muscle_Actions_348,9.649407,120434.46,3230425900.0,1229642.9,6676.7656
+Muscle_Actions_349,6.693843,80793.99,2097322800.0,684238.56,7115.921
+Muscle_Actions_350,10.926761,114249.32,2430503000.0,1067046.1,5737.0625
+Muscle_Actions_351,2.7601838,60832.617,1962709100.0,879635.0,6160.957
+Muscle_Actions_352,6.5233707,42003.816,883231400.0,458806.1,4969.169
+Muscle_Actions_353,0.82552236,7348.0967,152251520.0,257219.55,2430.6846
+Muscle_Actions_354,4.065187,56774.2,1528938000.0,628154.25,7056.731
+Muscle_Actions_355,11.107135,175666.52,4278898400.0,1544637.0,7327.992
+Muscle_Actions_356,8.363703,102648.94,2301917200.0,676946.56,6388.6226
+Muscle_Actions_357,15.127684,99624.89,1252644400.0,667153.5,5212.665
+Muscle_Actions_358,13.322389,71630.336,1272041000.0,576030.3,5870.7046
+Muscle_Actions_359,6.5026717,63761.72,1634962700.0,844301.9,5784.301
+Muscle_Actions_360,7.1445594,57942.1,1425019000.0,752987.0,4911.329
+Muscle_Actions_361,1.2138606,20292.828,618120300.0,541768.94,3112.4739
+Muscle_Actions_362,13.977008,138164.95,2546884000.0,1282243.8,6733.421
+Muscle_Actions_363,9.630795,123717.23,2800059600.0,1310335.9,6317.798
+Muscle_Actions_364,2.590875,38860.26,968440960.0,524609.44,5420.9614
+Muscle_Actions_365,4.362796,44899.96,884355900.0,621461.6,4308.928
+Muscle_Actions_366,10.629086,117370.13,2523776500.0,1139224.0,6851.408
+Muscle_Actions_367,5.7517443,101912.82,3222731500.0,974394.44,7228.6426
+Muscle_Actions_368,7.9577146,69951.97,1574728300.0,668460.94,4813.1987
+Muscle_Actions_369,13.3215,77385.8,1203844000.0,590950.1,5374.938
+Muscle_Actions_370,9.326604,55411.55,1245657500.0,563307.06,6501.8467
+Muscle_Actions_371,4.1078315,29696.676,627619500.0,338467.12,4528.976
+Muscle_Actions_372,0.27649954,3347.6182,77695360.0,168357.61,1309.2638
+Muscle_Actions_373,9.5111065,70610.914,1095227100.0,497797.2,5665.1553
+Muscle_Actions_374,9.02097,104042.99,2265507800.0,948351.6,6633.7866
+Muscle_Actions_375,7.2283654,82338.21,1986358500.0,626016.0,6688.468
+Muscle_Actions_376,6.4244204,114654.64,3422314000.0,1076806.2,8306.467
+Muscle_Actions_377,8.880721,46183.715,998860700.0,563360.3,5358.3823
+Muscle_Actions_378,1.1032974,23110.574,702741440.0,524428.25,5010.0337
+Muscle_Actions_379,0.5977068,6170.671,165079840.0,236027.48,3103.5269
+Muscle_Actions_380,0.08803167,1286.3401,34334540.0,116478.02,883.46246
+Muscle_Actions_381,0.06683469,861.1066,20286558.0,82236.945,895.9045
+Muscle_Actions_382,1.9963038,32936.78,945255500.0,634375.75,5332.061
+Muscle_Actions_383,0.043843523,716.2321,20544950.0,48304.02,1091.4528
+Muscle_Actions_384,0.5232535,5696.8945,118660770.0,192640.9,2403.7026
+Muscle_Actions_385,3.595862,55800.02,1303529600.0,720718.94,5291.7295
+Muscle_Actions_386,4.350762,58063.598,1605818100.0,677433.5,6532.2783
+Muscle_Actions_387,0.50241274,7848.703,203628320.0,204422.3,3561.6094
+Muscle_Actions_388,7.4706054,107858.02,2497030400.0,897595.56,6932.4805
+Muscle_Actions_389,0.7200612,12018.406,324113380.0,377632.62,3030.114
+Muscle_Actions_390,8.409946,107168.08,2412341500.0,1234098.0,4896.9565
+Muscle_Actions_391,8.405193,125624.48,2777774300.0,1208719.5,6924.5786
+Muscle_Actions_392,7.757331,113078.82,2531875000.0,809107.7,7919.7617
+Muscle_Actions_393,15.150535,166379.94,3709901300.0,962207.3,8721.379
+Muscle_Actions_394,10.545997,124571.305,2982911200.0,1026970.4,9223.074
+Muscle_Actions_395,6.443702,53717.312,900541440.0,478228.7,5657.9995
+Muscle_Actions_396,7.2965474,125199.195,3554287000.0,1249610.0,6229.664
+Muscle_Actions_397,12.615591,119504.07,2801949400.0,1053313.2,7520.6865
+Muscle_Actions_398,3.999128,56566.016,1734402800.0,942607.4,4505.177
+Muscle_Actions_399,10.413723,75635.47,1407463800.0,866080.56,4986.849
+Muscle_Actions_400,8.8158655,62605.438,1141019500.0,539857.4,5531.278
+Muscle_Actions_401,6.2225733,95953.69,2269255700.0,1135254.1,5454.3413
+Muscle_Actions_402,9.248758,148680.1,4521485300.0,1104473.9,8688.049
+Muscle_Actions_403,0.15618992,2864.6602,87283610.0,156192.3,1352.7867
+Muscle_Actions_404,2.8478994,37470.242,889510340.0,510751.78,6230.1743
+Muscle_Actions_405,2.5935786,37019.062,1073449000.0,740070.56,4906.336
+Muscle_Actions_406,8.606931,64825.4,1389199000.0,500673.25,5407.0625
+Muscle_Actions_407,2.2293198,13270.636,213636200.0,309975.75,2836.4678
+Muscle_Actions_408,0.5516447,6398.4336,185079840.0,187049.81,3033.0137
+Muscle_Actions_409,3.6796732,42124.035,1133326700.0,706634.3,5323.819
+Muscle_Actions_410,3.697872,35066.9,676532200.0,354388.0,4898.051
+Muscle_Actions_411,10.775955,122461.34,2996611000.0,940542.3,8461.953
+Muscle_Actions_412,5.5258904,76032.03,2108661400.0,806267.8,7232.9224
+Muscle_Actions_413,7.5726886,62757.2,1252195000.0,738963.25,5025.0195
+Muscle_Actions_414,8.800231,102739.17,2668572200.0,761306.56,8477.528
+Muscle_Actions_415,5.2514853,49238.008,1208987600.0,455852.16,7115.73
diff --git a/data/sac/sac_singlelegstance_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_singlelegstance_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6dcf1d198f848be69a17622e35bd8db9a82bc28
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,0.6588077815638503,2882.106309592112,42267392.94121319,125418.52178406918,758.680971767123
+Physical_Joints_1,1.1878692514771683,6607.298958606106,101430170.7645545,145597.74105296397,1572.842842787995
+Physical_Joints_2,7.625040331487119,30251.691994703193,352025792.0816863,326900.3685221252,1983.3219900071244
+Physical_Joints_3,102.77303691759288,500575.80699552974,6839528133.009274,945302.9516773456,15194.328774031856
+Physical_Joints_4,529.5381433653589,2084788.9836810615,25786616031.554024,2857472.4047330534,17900.082948178628
+Physical_Joints_5,136.52221913833307,1413294.6388806875,27357540640.351067,2743900.600457498,24078.079624964113
+Physical_Joints_6,169.89996459141818,674173.1372944518,8704396829.31586,1650280.5309356204,9397.034928995361
+Physical_Joints_7,46.863771691085645,297862.24313513393,4704579199.761,1117459.4422235955,11588.364595554756
+Physical_Joints_8,73.73783080442112,632886.7411138212,11808601468.927252,1428231.3667965047,16183.677429371199
+Physical_Joints_9,0.0007002529000491411,0.9842207349083867,10360.886966003052,1838.506047346236,13.251768188302075
+Physical_Joints_10,0.03739169361830283,31.208312527289685,217820.11466371556,13618.989414900569,31.912206418926356
+Physical_Joints_11,68.32502692938685,271516.1355793155,3471606461.476042,1063514.2671706567,5954.355361087364
+Physical_Joints_12,6.3629236389067145,24144.64743009823,314848421.6085028,311379.635549997,1763.1592387495725
+Physical_Joints_13,1.649139234100254,10605.67977072234,171594992.51968858,210191.68085873206,2208.911387827452
+Physical_Joints_14,0.10973489046345813,1168.0776423232812,23227177.342566073,63423.328602100155,715.7350916664042
+Physical_Joints_15,6.940113960324696,28416.432232838495,371665386.01405996,341881.58744775644,1941.8732186891427
+Physical_Joints_16,2.838575365181335,18505.318305830988,294668958.77173007,282061.17360207933,2890.542232645016
+Physical_Joints_17,0.08646471066890739,958.3387484600516,18734440.04344822,56789.3736445335,648.6226117529985
+Physical_Joints_18,8.663367871581507,36433.04688565088,479232459.6771952,382223.6237787117,2216.680645117922
+Physical_Joints_19,2.987646597881959,19074.996129477335,303540918.52718866,287110.14304313547,2928.520009568975
+Physical_Joints_20,0.14391445792296395,714.5856198087644,12368531.637097092,45021.96768010191,529.8957910924328
+Physical_Joints_21,10.946249536532566,44913.09312131219,591954996.3043149,423107.3027332172,2468.783717295072
+Physical_Joints_22,1.776933658278662,10930.524005967041,174685879.3930256,217117.02979629542,2216.104866680852
+Physical_Joints_23,0.09569585735953497,552.1737385971356,10509420.589426741,40851.52443415699,488.6379703748057
+Physical_Joints_24,1.5897944196519564,11140.110320835292,100910956.71601935,179442.01405053763,1331.1184637664494
+Physical_Joints_25,0.09372649081093665,397.0610236163551,6321358.218839775,61093.073095094056,287.136925973393
+Physical_Joints_26,0.13870457350576365,509.8268249206822,7239700.892152568,64361.61585355095,300.2452214491667
+Physical_Joints_27,1.4357716725045813,10266.741203599448,95165817.99365923,167164.19555435577,1306.5772942618728
+Physical_Joints_28,0.375372597295146,3596.1904170496273,31883720.18243053,101651.76141732819,710.8008425532248
+Physical_Joints_29,2.002395221163611,17791.863214676967,203861033.4369521,329312.47141433554,1490.75528368132
+Physical_Joints_30,1.5576109929376443,10113.64178858082,131717889.93189786,261086.81843506938,1318.0587406461664
+Physical_Joints_31,1.5013444905999302,9915.604794344312,119558213.43205614,262869.24657242105,1238.014719354204
+Physical_Joints_32,1.7424399477300416,16263.870415168927,196113417.02101555,308648.4110795497,1462.6966040937427
+Physical_Joints_33,0.3087532188650056,2762.8639230764993,26016054.939011317,91466.74472014664,661.9238986647769
+Physical_Joints_34,0.5252870613108277,359.09174493639324,2113355.153884146,30002.703042617923,245.88274871618944
+Physical_Joints_35,10.123365872952252,54037.905557750564,782762413.0265908,739599.3166333225,2753.835463397341
+Physical_Joints_36,0.9313289333745877,539.981424300627,3570290.824763014,49291.94297445604,255.23390081511894
+Physical_Joints_37,32.80698963674727,219248.15393017733,4266610429.36469,1195465.9434040964,8581.316273745853
+Physical_Joints_38,2154.0090953841654,6633408.867923887,47548910688.868454,3119959.332153646,32419.932068635393
+Physical_Joints_39,202.18282769970747,1736415.7208135035,36860509932.98851,3414733.4927398474,22254.123938949597
+Physical_Joints_40,662.4561222728547,6276332.316904028,63029658547.2244,6032386.615803251,28074.41928426943
+Physical_Joints_41,26.345040201311154,315030.6351558765,8973798775.579376,1392278.4816734921,11854.978553932679
+Physical_Joints_42,118.55027787812523,826307.4638329836,15938736134.442865,2417499.380077269,16495.450174456535
+Physical_Joints_43,98.30392188975803,700598.2360442406,13572697144.44021,1752826.9258952166,13324.922725763512
+Physical_Joints_44,149.51611459496436,753464.8760261412,13095714230.885952,1653181.208648013,17268.18219225575
+Physical_Joints_45,107.4143217015868,452965.0372767604,8506533366.607642,1724346.283078434,11342.71557160135
+Physical_Joints_46,53.22176832141819,314769.4856848012,5427805650.294084,1133464.3874106929,11032.342907145796
+Physical_Joints_47,320.3060457998298,4402062.036742264,88210712532.41594,7280730.06187608,24066.223945413025
+Physical_Joints_48,102.85192462313154,750348.7200545658,8518040351.5497465,1290372.3650796884,11257.984682233964
+Physical_Joints_49,360.2477540284086,3321965.179958716,48976362190.64489,5182710.992925021,17746.121636800905
+Physical_Joints_50,64.81902587256708,1083670.6163729995,27479785558.49246,4061476.3635218404,13161.997103896061
+Physical_Joints_51,85.70836840588966,406648.0988725496,6090292307.0318,1794248.3496189306,9184.61706557554
+Physical_Joints_52,49.35538841764571,342160.3099140008,4938117826.136009,1384661.7679342153,8325.22145363669
+Physical_Joints_53,270.33100675623916,2534944.1178634455,60803660113.31877,5911131.144094907,22602.492770881614
+Physical_Joints_54,50.628573892297275,267961.1577587271,3650620842.829367,1545172.0123792142,7093.1154034026995
+Physical_Joints_55,9.290208214965118,42470.73778562852,341293609.2281159,301635.6905124942,2580.2246261318305
+Physical_Joints_56,475.4029007694086,3387169.005670913,64259915857.56061,7033488.363364993,16454.198762370663
+Physical_Joints_57,30.220914783807586,232351.6134588477,1957304925.749976,1236176.402484337,3981.1688406723592
+Physical_Joints_58,1.6144544041041555,7511.5509792869425,64846819.53217195,106513.99948929374,1163.354691735075
+Physical_Joints_59,15.096777872041887,249809.19971687905,3256264844.7806015,1753234.0490708556,3552.140102143999
+Physical_Joints_60,144.21335550278133,1066113.0942564523,22391112037.38441,4029145.826396362,12150.578504840269
+Physical_Joints_61,17.205994872419357,203575.7460270164,3239995748.498997,1162269.368982839,5151.512010431117
+Physical_Joints_62,0.5428150449887743,3093.277716343541,53301043.81252819,161220.53981735377,1024.537213694
+Physical_Joints_63,0.29994052871233223,7262.130022282571,176134993.56281433,354692.0460974352,1239.5812507947792
+Physical_Joints_64,0.04426437237859947,196.87094316010788,3450309.3835564326,46394.613830847695,169.18110176470503
+Physical_Joints_65,0.02909109965962114,208.2397825059805,3767445.759686603,46754.805761787604,166.8445294444009
+Physical_Joints_66,0.2967992292258763,7217.795088859846,174873095.68064705,354571.4580502974,1226.2364235138207
+Physical_Joints_67,0.10907299758920432,1989.9312187237535,48087980.34025538,175334.37304232427,705.9957240663767
+Physical_Joints_68,0.37891368601622333,6770.031910606365,167014493.50866628,273769.1650996115,1247.055696694363
+Physical_Joints_69,0.659349364907561,13317.985582468593,232009178.77557933,455662.059664082,1165.0332013691823
+Physical_Joints_70,0.6631908245660327,12453.684689843345,218380736.2916364,442195.51908089867,1144.8621371907554
+Physical_Joints_71,0.3675704917155116,7101.219610812148,174653479.99924752,286584.8432775104,1260.7489467466996
+Physical_Joints_72,0.13965447987959426,2062.889086641817,48372156.28651062,178929.75803333847,695.6762930961228
+Physical_Joints_73,0.3778585797971048,350.24798259718943,1456775.5435906572,19991.860513913532,202.47824651231403
+Physical_Joints_74,1.7430361053021102,20876.29905924092,396927109.3180946,500212.0395781099,1223.2713045555502
+Physical_Joints_75,0.3778539798101089,342.8944236235706,1598895.4531876668,24465.11767256884,205.43072152024024
+Physical_Joints_76,42.01517302882343,163875.67163274394,1802953538.695402,893588.0677440241,6808.9680553673425
+Physical_Joints_77,424.118545679358,7419581.3133724425,120279811614.01895,9281515.639827149,34236.12427379226
+Physical_Joints_78,64.55076593860068,620687.5682803211,5509387392.685922,2281034.4621656574,5327.032494016272
+Physical_Joints_79,255.95911489000514,4597627.059654904,99935023188.62074,8514699.635908945,30492.68842450366
+Physical_Joints_80,99.34007385650958,1160414.7804334883,27802677791.16822,3465604.8709232127,15477.362049806856
+Physical_Joints_81,309.16957057498956,1804920.4300995742,27220940367.636837,3880639.4870350147,23421.28969631171
+Physical_Joints_82,321.2724142005859,1440969.6800613261,16779232719.348146,1701618.3892239921,16616.105553481593
+Physical_Joints_83,192.21516187340848,1576035.9926147326,31455834041.582314,3995419.1438593627,18512.416260479484
+Physical_Joints_84,302.1587162651933,2105707.8981130966,50108397998.7474,5594108.049023076,24065.46129374671
+Physical_Joints_85,449.1147597529828,5210473.1442003725,136523406517.42953,9572398.004205804,31721.538551760503
+Physical_Joints_86,2.020654483621622,13355.538698757771,154564641.74774438,192326.13141181652,1872.0778835630963
+Physical_Joints_87,93.53452511462046,440741.3481364067,7210987616.535636,1604074.301526822,12263.945313208145
+Physical_Joints_88,4.496320908177705,43550.05037141161,429883577.1201671,565746.2441117725,2003.9827040133616
+Physical_Joints_89,14.905062397337124,175493.5051494305,1275702503.4112902,964897.8525692055,2375.217313990235
+Physical_Joints_90,2.9650378376804905,18379.206679842937,194117100.508638,238382.31366403284,2075.787462894636
+Physical_Joints_91,68.71302941532626,532578.7263196304,8674156247.800741,1845062.3766389745,10454.558909735477
+Physical_Joints_92,20.39157965528846,306469.2522576016,3442150654.4272437,1829875.3809333318,3182.4900212708008
+Physical_Joints_93,0.6438782957636385,3051.6750981709806,31506609.245875135,118779.05189994123,816.9299231994917
+Physical_Joints_94,89.71078939892776,709661.9941861731,10759558736.385925,1867192.909767609,9869.221375520026
+Physical_Joints_95,123.08256245808961,911565.2930167151,14885887366.38091,1981058.8965191576,13302.382500598418
+Physical_Joints_96,3.682142081112687,46859.12184729611,1055956786.6211504,792594.0727629224,2983.927109912608
+Physical_Joints_97,7.385398591842191,83621.0507374825,1740970426.5125918,1041487.1120012228,3456.1596728018544
+Physical_Joints_98,12.737842117667114,146406.73395550917,2104503892.8305516,872583.9135901444,4774.724743340943
+Physical_Joints_99,102.93918094737731,737134.1112951299,16051307304.459217,1432683.3553977385,20085.220985229153
+Physical_Joints_100,21.326359414763274,195474.24865538834,1509692383.623392,1105357.859541366,3655.7828930893775
+Physical_Joints_101,11.790765012462883,131669.92204012076,943358570.5797522,771702.497256823,2509.316348452361
+Physical_Joints_102,1712.8658944432727,9986537.205012722,155827236222.7314,6617468.81233691,38083.82368944183
+Physical_Joints_103,408.9511665136269,2283991.5158565626,35345242623.618706,3148419.2461400293,30929.418588029577
+Physical_Joints_104,557.1881129115474,6583989.764204286,171878086919.82043,8214251.349783095,46046.817942019676
+Physical_Joints_105,0.027908013456258193,310.14320104832836,7136328.487325633,58863.66320819692,249.24907836558828
+Physical_Joints_106,0.02372867690574117,81.84638930804452,1726424.784777195,24573.45214187971,142.2615618957776
+Physical_Joints_107,1367.6880847059233,14237001.591427092,279393563821.6599,12101674.827842973,45829.61412419887
+Physical_Joints_108,3.5225657244159883,21074.190448970447,245314780.79649925,327566.13772673917,1517.1283079920736
+Physical_Joints_109,93.17472861895966,731946.3362699846,12334025565.97716,2523938.4558219593,10364.50392118199
+Physical_Joints_110,518.8272420393271,8868983.826717243,274322505709.59164,8841756.412640704,53760.672091411245
+Physical_Joints_111,1355.2825971414406,6091741.598334943,85744410339.38585,6050525.29212715,38285.41725636692
+Physical_Joints_112,607.0602230034631,4424770.035892834,73067188487.81839,5976919.787376774,30747.79046643587
+Physical_Joints_113,3.8032703609109744,18688.37260808517,274389163.50796914,374079.39830532053,1542.192236967153
+Physical_Joints_114,3.1679823136630154,19246.564423522188,423337906.38793355,433955.0282101964,1949.560031783429
+Physical_Joints_115,797.7416164944786,9570161.6983427,198384355993.06628,9685149.557419125,40241.890083150334
+Physical_Joints_116,1251.7071122547277,4624818.966839334,54583471637.91433,4359496.744002418,26017.35063134656
+Physical_Joints_117,222.9322595647989,1382788.9082955497,24088443301.753918,2232781.0309557673,25869.749220214788
+Physical_Joints_118,487.1906343557874,1750245.2711869567,28044546685.010506,2643825.7774983104,24649.436953678687
+Physical_Joints_119,0.01932039311128625,130.36565774688805,2895843.641943233,43072.96669519813,157.02958972357618
+Physical_Joints_120,0.46258585388861007,386.3714197511553,2745377.279593837,47115.27168535523,124.93449056381957
+Physical_Joints_121,962.2326788313379,7335092.945078266,158109971779.47177,10572920.271252519,32854.055941633866
+Physical_Joints_122,1.5692419891496627,8983.676941732523,157821681.40868598,341707.87783315056,1201.631671857434
+Physical_Joints_123,28.673818607865396,64083.15588289952,1204465713.6374655,831298.4705110665,2645.835103683173
+Physical_Joints_124,294.68536708694006,3892645.786664265,83548704709.22437,5128907.520009739,30072.53507818462
+Physical_Joints_125,3381.846324140265,24730251.529260118,392929372471.866,12685321.93049219,66597.72768096064
+Physical_Joints_126,1411.5727576570862,21296609.09420743,476180034998.72833,17742763.87525224,50228.69589840743
+Physical_Joints_127,1.1358235374759242,1677.6947625075218,14832310.678565856,74376.78732618346,497.1427497196014
+Physical_Joints_128,1.7111096184787897,15680.042021692534,351017150.2952813,494183.3757472723,1380.0560452057298
+Physical_Joints_129,1087.1447186860923,6706820.294587937,149664411224.5853,10292436.862830915,30438.230371962607
diff --git a/data/sac/sac_singlelegstance_checkpoints/best_model.zip b/data/sac/sac_singlelegstance_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab7486296eb9c17e0a037bb1d416a061e22887
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3a56e299076a28b8cadfdc534beffff9ed06bb5dca8d1356bfe5d426bdb9ae
+size 157917589
diff --git a/data/sac/sac_singlelegstance_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_singlelegstance_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..2582378890966b9bd7b9c693b7c3caced65128d7
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7529dece4b9c455f059c0e5c2c3377aa79a8ba369cc551bbbebaf259cc3884e6
+size 245584
diff --git a/data/sac/sac_singlelegstance_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_singlelegstance_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..ead4dbc87453b78e077c8ca4cfb84caed70d0437
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12db39357b587bf56811b761fac9fef84098a7d823258f0d22edd50aa5b4df49
+size 339657
diff --git a/data/sac/sac_singlelegstance_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_singlelegstance_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..622f3fb1afe70bae755dde4996da7da2a7a33fe3
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbf1469cc7ee59532bc694bdd92c805ea2b1b396b3e73ae18e4e2945f63a965b
+size 572110
diff --git a/data/sac/sac_singlelegstance_checkpoints/vec_normalize.pkl b/data/sac/sac_singlelegstance_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dbd0bb798488226d92bfe193b7bd15b3a1cd944b
--- /dev/null
+++ b/data/sac/sac_singlelegstance_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c697645b34cf143b830560b824a259960e98ff733dcee2cbea34d016dcecfb
+size 303927
diff --git a/data/sac/sac_singlelegstance_logs/SAC_1/events.out.tfevents.1778651202.discover-01.767409.0 b/data/sac/sac_singlelegstance_logs/SAC_1/events.out.tfevents.1778651202.discover-01.767409.0
new file mode 100644
index 0000000000000000000000000000000000000000..0bf3c336f66077ad49bf5108d132075d51e3e504
--- /dev/null
+++ b/data/sac/sac_singlelegstance_logs/SAC_1/events.out.tfevents.1778651202.discover-01.767409.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2c534ea76dd458ef7184867207a2f7d6aa928d46c219179a9551308f446ef2
+size 28106106
diff --git a/data/sac/sac_singlelegstance_logs/eval_logs/evaluations.npz b/data/sac/sac_singlelegstance_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a7b2272f64b8e2bcc90aa92f64bf36bb818bd4e
--- /dev/null
+++ b/data/sac/sac_singlelegstance_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de9c7d3e9d65bf70f48eeeb3730d3af2e3df20bee9c00d732e44dfa96ee0e3e
+size 55874
diff --git a/data/sac/sac_sit_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_sit_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90aa2e2c8e5ab4d0e9ae91d24f4c6602b71318ac
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,152.88681,2365957.2,66926620000.0,1269354.9,139956.48
+Muscle_Actions_1,46.222717,807550.8,22316952000.0,790790.94,81439.99
+Muscle_Actions_2,211.14557,3759409.2,117025220000.0,1380824.4,186964.55
+Muscle_Actions_3,225.13289,2660671.5,60190376000.0,1273688.5,154512.69
+Muscle_Actions_4,238.80365,3183569.5,85081640000.0,2106482.5,120055.23
+Muscle_Actions_5,217.2071,2003736.8,50106073000.0,1079930.2,117987.03
+Muscle_Actions_6,431.12732,7082095.5,214259970000.0,2210527.5,207588.89
+Muscle_Actions_7,232.92445,3034331.8,80843880000.0,1290523.2,164054.3
+Muscle_Actions_8,137.78317,2037481.2,54048895000.0,1103787.9,122773.13
+Muscle_Actions_9,311.53778,3604312.0,70275780000.0,1251009.4,135916.3
+Muscle_Actions_10,471.33145,7823440.5,212657140000.0,2661396.0,215711.22
+Muscle_Actions_11,138.34193,2045696.4,58816684000.0,1134712.8,130963.92
+Muscle_Actions_12,290.82092,6380167.0,194753480000.0,1938392.9,223597.9
+Muscle_Actions_13,190.80559,2379095.0,56357130000.0,1471395.2,105285.01
+Muscle_Actions_14,222.87024,4978906.0,151802270000.0,1649784.5,215756.7
+Muscle_Actions_15,326.09158,4490827.5,130834285000.0,1734089.9,179724.23
+Muscle_Actions_16,221.59209,3274519.8,82927895000.0,1292561.0,152515.6
+Muscle_Actions_17,187.25781,2624837.0,64815063000.0,1415257.5,143233.98
+Muscle_Actions_18,45.396244,487029.12,11686069000.0,455518.6,62686.727
+Muscle_Actions_19,127.25131,1784117.0,54898823000.0,1275690.4,128536.69
+Muscle_Actions_20,138.32954,2613337.2,76444050000.0,1193612.9,151099.36
+Muscle_Actions_21,87.50406,1379637.4,35195187000.0,668883.06,122675.38
+Muscle_Actions_22,336.90073,4390554.0,96443310000.0,1696304.6,175314.92
+Muscle_Actions_23,226.88171,2682502.0,61505802000.0,1391442.1,145414.16
+Muscle_Actions_24,156.1172,1911537.2,41431593000.0,1133403.1,120549.3
+Muscle_Actions_25,114.46581,1707440.5,46212575000.0,841791.3,122547.47
+Muscle_Actions_26,307.48132,5171219.5,132991074000.0,2156753.0,177618.5
+Muscle_Actions_27,192.45538,2073362.6,43315294000.0,842718.1,134715.5
+Muscle_Actions_28,106.892975,1624168.1,43672908000.0,939289.1,126166.164
+Muscle_Actions_29,123.63269,1197539.5,30033218000.0,760555.2,107510.19
+Muscle_Actions_30,416.07483,6011239.0,166728840000.0,2732666.0,173673.06
+Muscle_Actions_31,239.0011,1595948.8,27430892000.0,610854.25,94594.61
+Muscle_Actions_32,123.9319,1993342.1,56938100000.0,913024.2,153004.23
+Muscle_Actions_33,268.50583,3330443.2,86834980000.0,1476563.2,155377.45
+Muscle_Actions_34,140.03801,1869193.2,54293664000.0,1099486.6,118384.7
+Muscle_Actions_35,295.03073,3116302.0,66033450000.0,950756.25,155368.94
+Muscle_Actions_36,315.5448,4908401.0,124618210000.0,1702883.8,178914.25
+Muscle_Actions_37,203.76926,1922012.2,35148407000.0,929607.4,105018.4
+Muscle_Actions_38,247.02776,2357692.0,39513840000.0,1106561.2,121280.11
+Muscle_Actions_39,333.91544,4014453.2,79069190000.0,1113596.2,162234.66
+Muscle_Actions_40,286.01474,3454882.5,58173686000.0,1144026.4,126936.95
+Muscle_Actions_41,279.55035,4748334.0,134394175000.0,1513807.5,194539.28
+Muscle_Actions_42,168.83488,1548249.5,37802070000.0,724718.3,119326.99
+Muscle_Actions_43,430.50394,6445743.0,166301840000.0,1727683.4,201005.1
+Muscle_Actions_44,78.14633,561281.75,13772499000.0,445860.75,76962.2
+Muscle_Actions_45,192.73798,2137138.5,49891856000.0,767977.5,130909.555
+Muscle_Actions_46,325.17114,2885533.5,50192716000.0,837383.9,127680.97
+Muscle_Actions_47,247.83624,2854435.0,62138778000.0,1556005.6,131960.4
+Muscle_Actions_48,272.47162,3532059.5,83016200000.0,1822321.2,135057.05
+Muscle_Actions_49,374.82108,6710436.5,171137250000.0,2741473.8,204128.06
+Muscle_Actions_50,269.61926,3103877.8,60771295000.0,864772.56,160153.27
+Muscle_Actions_51,142.15247,2906972.5,86499344000.0,1590399.6,148022.97
+Muscle_Actions_52,173.71587,2812857.0,83460006000.0,1478769.1,158979.61
+Muscle_Actions_53,299.84073,6367098.0,210870100000.0,2266384.0,254834.62
+Muscle_Actions_54,186.31152,3019031.8,86709640000.0,1843571.9,127445.23
+Muscle_Actions_55,288.67133,5309998.0,145889790000.0,1800704.6,211501.17
+Muscle_Actions_56,150.79315,2570446.2,73026250000.0,1018849.4,171828.33
+Muscle_Actions_57,273.53168,2392784.2,49915085000.0,800274.8,140302.66
+Muscle_Actions_58,489.80673,7848812.0,222688990000.0,2978282.5,201419.38
+Muscle_Actions_59,192.52652,1557446.8,34443506000.0,929943.44,112711.67
+Muscle_Actions_60,381.36026,4670525.0,91604610000.0,1745564.5,151494.95
+Muscle_Actions_61,246.79613,3613479.5,72600040000.0,1406272.0,143384.7
+Muscle_Actions_62,219.13202,3573758.0,88485240000.0,2149366.5,123435.4
+Muscle_Actions_63,399.08655,5148114.0,102642360000.0,1501329.6,166945.4
+Muscle_Actions_64,122.88123,1664419.6,41154216000.0,723811.25,124035.98
+Muscle_Actions_65,552.91473,7393393.0,184917980000.0,2479201.8,209232.4
+Muscle_Actions_66,163.58446,1644481.0,40298037000.0,810076.4,124137.836
+Muscle_Actions_67,401.2453,6412410.0,182605800000.0,2748354.5,211990.89
+Muscle_Actions_68,249.51062,3130030.8,77242120000.0,1395192.1,136395.67
+Muscle_Actions_69,140.76695,1222123.6,26096456000.0,611460.06,106238.81
+Muscle_Actions_70,267.24182,4459977.0,118776830000.0,1890328.4,196562.48
+Muscle_Actions_71,167.89015,2370851.0,63261360000.0,976998.0,149125.98
+Muscle_Actions_72,303.5501,5749471.0,164067980000.0,1865644.4,195970.4
+Muscle_Actions_73,335.58118,5902817.5,155661000000.0,2508133.0,186409.83
+Muscle_Actions_74,275.3815,3951047.0,106245720000.0,2285730.5,148035.34
+Muscle_Actions_75,349.9372,4335898.0,93210710000.0,1185411.2,181398.34
+Muscle_Actions_76,416.32492,6208755.0,172046940000.0,2760241.8,175767.9
+Muscle_Actions_77,360.34418,5974163.5,175201600000.0,2107434.0,225988.2
+Muscle_Actions_78,138.25172,2770302.0,87281760000.0,1330122.8,152629.16
+Muscle_Actions_79,205.92838,3682827.2,104263614000.0,2022779.5,152478.02
+Muscle_Actions_80,447.67868,6697304.0,168950710000.0,1463400.9,235721.06
+Muscle_Actions_81,209.57622,2964616.2,80321860000.0,1430234.4,144668.1
+Muscle_Actions_82,211.98528,2425326.2,54740517000.0,1393674.9,120129.086
+Muscle_Actions_83,344.37842,5220585.5,104002920000.0,1653329.0,161719.88
+Muscle_Actions_84,150.10652,2007606.0,48606380000.0,820585.4,132313.94
+Muscle_Actions_85,212.11238,2713994.8,62848954000.0,1384805.8,145441.8
+Muscle_Actions_86,199.64546,1921084.5,40467075000.0,829035.75,125100.914
+Muscle_Actions_87,168.01704,2102826.2,53275595000.0,854562.5,142967.44
+Muscle_Actions_88,257.934,1848048.8,31782214000.0,694411.06,112387.75
+Muscle_Actions_89,125.95748,1508525.2,36706110000.0,720925.2,122790.62
+Muscle_Actions_90,223.37782,1859641.0,40215167000.0,740592.4,130420.89
+Muscle_Actions_91,315.25946,3716710.2,90782180000.0,1446699.0,148270.27
+Muscle_Actions_92,238.0812,4718769.5,129744150000.0,2375412.5,167141.78
+Muscle_Actions_93,161.71564,2326634.8,58357580000.0,881048.7,143109.45
+Muscle_Actions_94,163.54468,2211170.5,57848150000.0,1014690.6,140263.9
+Muscle_Actions_95,211.9703,1477440.4,25600276000.0,737908.75,84232.36
+Muscle_Actions_96,115.87836,1735784.6,50201993000.0,1016772.06,116582.37
+Muscle_Actions_97,411.59717,5042292.5,56764355000.0,1342703.9,133483.23
+Muscle_Actions_98,240.07848,2212109.0,43983230000.0,1114149.5,117387.63
+Muscle_Actions_99,185.43735,2829969.5,66738790000.0,1249563.8,134097.05
+Muscle_Actions_100,275.01144,4347531.0,109902320000.0,1615090.5,146571.88
+Muscle_Actions_101,75.32115,695310.56,13140041000.0,497043.66,71311.7
+Muscle_Actions_102,124.233696,1323467.9,29429772000.0,591945.3,103628.14
+Muscle_Actions_103,168.84357,2192883.5,51988648000.0,1250922.5,132377.9
+Muscle_Actions_104,213.14378,3869163.8,121213166000.0,2149903.0,157937.23
+Muscle_Actions_105,308.90768,3248683.0,75099005000.0,1478700.1,113808.15
+Muscle_Actions_106,185.19806,1963277.8,47868252000.0,761404.2,150757.52
+Muscle_Actions_107,260.67288,3367717.8,83542080000.0,1448221.2,164413.52
+Muscle_Actions_108,353.3771,4886360.5,120594140000.0,2442054.5,165699.94
+Muscle_Actions_109,183.21867,1781619.5,43073556000.0,855402.9,117135.76
+Muscle_Actions_110,243.92502,2681395.0,65173762000.0,1147753.1,148456.78
+Muscle_Actions_111,225.47571,3463437.5,84813650000.0,1244600.6,167106.56
+Muscle_Actions_112,221.80663,2386916.2,56773284000.0,797380.9,145520.23
+Muscle_Actions_113,226.3723,4332609.5,136160190000.0,2181232.8,156682.55
+Muscle_Actions_114,311.04138,6794791.0,194770940000.0,2541285.0,204940.77
+Muscle_Actions_115,376.36057,6133222.5,163376640000.0,2876019.5,170756.27
+Muscle_Actions_116,240.08469,2712238.0,65340367000.0,1398009.1,143105.72
+Muscle_Actions_117,402.69788,7369279.5,192727740000.0,2761739.2,218222.56
+Muscle_Actions_118,543.94556,11210912.0,341466120000.0,2816088.0,288693.47
+Muscle_Actions_119,138.14078,1121513.9,20026860000.0,419426.8,100358.76
+Muscle_Actions_120,167.43082,1912416.1,54527988000.0,1025162.7,117573.55
+Muscle_Actions_121,274.93268,3330534.5,60099842000.0,1123366.8,132188.8
+Muscle_Actions_122,184.99243,3210171.2,98678800000.0,1482214.5,190313.22
+Muscle_Actions_123,196.92464,4296402.0,137471340000.0,1886549.8,171111.06
+Muscle_Actions_124,409.89832,6261885.0,168345270000.0,2515595.5,199316.94
+Muscle_Actions_125,76.59506,1264518.5,34494310000.0,728902.94,117639.73
+Muscle_Actions_126,76.35169,731448.6,16684273000.0,660823.75,84290.72
+Muscle_Actions_127,371.95773,5481806.5,149127970000.0,2278889.8,204779.11
+Muscle_Actions_128,224.64511,2883961.0,82444000000.0,1445279.1,156252.78
+Muscle_Actions_129,385.66318,5025451.0,122968190000.0,2278969.8,152535.64
+Muscle_Actions_130,195.96446,1837385.2,51352340000.0,1337105.8,119512.24
+Muscle_Actions_131,198.43044,3076183.0,86666460000.0,1826874.8,129286.72
+Muscle_Actions_132,109.86801,2268989.0,65163860000.0,1066732.9,146731.05
+Muscle_Actions_133,169.89233,2374002.0,68098884000.0,1203540.6,153880.45
+Muscle_Actions_134,304.76514,2090043.1,38973910000.0,943395.2,122181.586
+Muscle_Actions_135,321.69946,3831009.0,91473750000.0,1709242.9,137472.81
+Muscle_Actions_136,170.71819,2179236.8,56820100000.0,926708.25,144230.81
+Muscle_Actions_137,200.42963,2999602.5,83839164000.0,1534023.6,154503.23
+Muscle_Actions_138,270.86752,3709233.5,97691484000.0,2232023.2,143108.89
+Muscle_Actions_139,71.38689,1559446.8,44837413000.0,938611.44,116198.5
+Muscle_Actions_140,253.38605,3788495.8,105498980000.0,1903337.8,169648.6
+Muscle_Actions_141,144.15477,1713270.9,45597960000.0,1169281.2,132476.4
+Muscle_Actions_142,224.37378,2435216.8,62756530000.0,1002031.2,150058.19
+Muscle_Actions_143,494.2663,8666782.0,246746640000.0,2613807.8,260705.95
+Muscle_Actions_144,284.13568,5123639.0,143836920000.0,2215077.0,194959.72
+Muscle_Actions_145,306.78766,3781416.0,87223930000.0,1382393.4,154061.52
+Muscle_Actions_146,304.7333,4821203.0,134538730000.0,2092415.4,169735.6
+Muscle_Actions_147,312.58832,5308037.0,145755300000.0,1737120.1,217865.28
+Muscle_Actions_148,224.21701,4656232.0,149456140000.0,2229459.8,178087.14
+Muscle_Actions_149,288.91293,2426267.0,35010666000.0,1073776.9,107273.94
+Muscle_Actions_150,245.49788,2874507.5,53861974000.0,1102100.6,121138.695
+Muscle_Actions_151,486.93024,8336526.0,234584390000.0,2185834.0,241958.9
+Muscle_Actions_152,290.1657,5522451.5,152112500000.0,1758952.2,201232.06
+Muscle_Actions_153,255.55556,2850655.0,43494076000.0,866954.4,124204.5
+Muscle_Actions_154,228.03918,2978119.2,72803560000.0,1820789.6,104418.22
+Muscle_Actions_155,111.17659,1805978.1,53192225000.0,1253552.5,120809.445
+Muscle_Actions_156,113.97929,1725101.1,47611445000.0,848275.44,127442.164
+Muscle_Actions_157,274.11285,2945708.8,57670984000.0,1237704.8,133624.6
+Muscle_Actions_158,364.99045,3885214.0,80178310000.0,1437370.2,141735.97
+Muscle_Actions_159,397.2839,4745868.5,90706520000.0,1356432.6,182626.89
+Muscle_Actions_160,185.6027,3129780.2,80552710000.0,1236172.2,162028.05
+Muscle_Actions_161,200.80032,3517086.0,96129425000.0,2117532.2,127694.555
+Muscle_Actions_162,137.11467,1965916.8,49703810000.0,941067.56,139803.98
+Muscle_Actions_163,137.51657,1651398.8,40812253000.0,619071.8,126463.39
+Muscle_Actions_164,165.00064,2615842.5,69493055000.0,1509203.5,129355.85
+Muscle_Actions_165,261.08527,3976952.8,110664294000.0,2228153.0,128710.31
+Muscle_Actions_166,106.91697,1351460.5,34950455000.0,771818.2,100624.13
+Muscle_Actions_167,189.92497,1686253.6,32391664000.0,856070.5,101774.6
+Muscle_Actions_168,147.84386,1718437.0,41747120000.0,1002329.4,111702.12
+Muscle_Actions_169,347.632,5386380.0,148113560000.0,2180253.0,206433.11
+Muscle_Actions_170,431.27045,7054985.5,204353290000.0,3248784.0,162421.39
+Muscle_Actions_171,197.0406,3147107.5,89892160000.0,1384650.5,167969.05
+Muscle_Actions_172,638.29236,9017758.0,128618150000.0,1651423.9,182085.2
+Muscle_Actions_173,292.88184,4049266.0,82805830000.0,1296028.5,167327.33
+Muscle_Actions_174,318.86963,5062185.0,136690300000.0,2430770.0,169660.47
+Muscle_Actions_175,187.85344,2288344.2,58622160000.0,976865.6,161353.45
+Muscle_Actions_176,147.86034,2042171.4,52410577000.0,807945.3,157311.98
+Muscle_Actions_177,240.78545,3460183.5,97715510000.0,1840508.1,160998.16
+Muscle_Actions_178,261.41238,4689382.0,138901590000.0,1624353.9,191539.22
+Muscle_Actions_179,86.55208,876982.7,21938786000.0,609801.75,88166.77
+Muscle_Actions_180,331.98328,4750893.5,120931700000.0,1596263.6,187792.56
+Muscle_Actions_181,315.57718,4479064.0,102078080000.0,1636306.1,164008.53
+Muscle_Actions_182,190.6623,1787952.4,37070156000.0,1003527.06,107731.99
+Muscle_Actions_183,233.14206,2948996.5,74225760000.0,1298324.0,164009.33
+Muscle_Actions_184,194.61636,2016147.2,46248178000.0,1234096.0,111649.445
+Muscle_Actions_185,282.78452,3004372.0,67162403000.0,1243796.0,150721.56
+Muscle_Actions_186,106.22073,1662565.0,43680793000.0,778029.94,141769.17
+Muscle_Actions_187,169.73558,1218046.6,27215548000.0,580381.9,101308.195
+Muscle_Actions_188,184.09663,2417909.0,63904924000.0,793585.56,164238.84
+Muscle_Actions_189,369.2891,5458784.5,138007070000.0,1958910.0,190361.48
+Muscle_Actions_190,177.21909,2946991.8,79191070000.0,1783831.1,118230.39
+Muscle_Actions_191,372.91403,4999869.5,130271800000.0,1848624.0,195916.72
+Muscle_Actions_192,306.39258,2661936.8,39787150000.0,1173476.5,107574.086
+Muscle_Actions_193,249.95906,2529412.2,58813096000.0,1197381.2,125254.445
+Muscle_Actions_194,197.28497,1581528.2,33062404000.0,794591.3,116870.3
+Muscle_Actions_195,257.53317,5221415.0,165868550000.0,1987935.6,205940.11
+Muscle_Actions_196,290.02536,3923912.5,106096840000.0,1663363.5,168406.77
+Muscle_Actions_197,139.49956,2460804.2,61091635000.0,1432078.6,140438.45
+Muscle_Actions_198,222.12097,4581333.5,140436420000.0,1574523.6,204042.9
+Muscle_Actions_199,163.38919,2970084.8,83185040000.0,1318442.4,158121.17
+Muscle_Actions_200,234.18524,3205300.2,88248790000.0,1403887.2,155194.72
+Muscle_Actions_201,129.10503,2543956.5,77012700000.0,1269304.9,166049.55
+Muscle_Actions_202,158.78055,1424712.8,32451103000.0,862221.7,116416.98
+Muscle_Actions_203,293.10367,4760332.5,133906590000.0,1755787.8,204145.95
+Muscle_Actions_204,233.07072,3291403.0,89398390000.0,1251644.6,171516.62
+Muscle_Actions_205,564.5874,9646346.0,269961660000.0,2658715.2,265081.16
+Muscle_Actions_206,149.23984,2753896.8,85446050000.0,1655258.8,146101.7
+Muscle_Actions_207,244.25632,2670138.5,61348192000.0,1428033.1,130992.336
+Muscle_Actions_208,226.01349,2316175.2,51216736000.0,718557.75,143467.7
+Muscle_Actions_209,141.591,2249999.5,58681850000.0,1213195.6,130024.586
+Muscle_Actions_210,603.1387,10202663.0,263373640000.0,2564208.5,226629.7
+Muscle_Actions_211,568.50525,14768486.0,470979300000.0,4016672.2,319075.1
+Muscle_Actions_212,166.1541,2054282.6,48161580000.0,1221190.2,123880.31
+Muscle_Actions_213,348.29816,4102308.2,100411376000.0,1392613.1,171327.5
+Muscle_Actions_214,263.86325,4354899.5,119402600000.0,1624209.9,186148.8
+Muscle_Actions_215,375.77945,4978353.5,128416740000.0,1553166.1,184420.78
+Muscle_Actions_216,341.94196,3446628.5,38408643000.0,1681912.6,61250.254
+Muscle_Actions_217,217.22919,2304315.0,53705410000.0,954818.1,122052.97
+Muscle_Actions_218,107.12406,2258286.5,71612460000.0,1535243.2,127293.69
+Muscle_Actions_219,107.36112,1192930.9,31396024000.0,801428.0,93582.48
+Muscle_Actions_220,208.32756,3227804.2,79762285000.0,1260415.5,150556.88
+Muscle_Actions_221,126.305405,2220764.5,67523576000.0,956242.8,166152.45
+Muscle_Actions_222,210.01683,2535763.8,61150800000.0,1606849.4,124559.92
+Muscle_Actions_223,56.47357,798259.6,22324236000.0,867701.3,60893.01
+Muscle_Actions_224,439.3782,4493615.0,64982120000.0,1659595.2,129354.11
+Muscle_Actions_225,449.99756,5177015.5,114971110000.0,2064287.4,161893.0
+Muscle_Actions_226,345.00977,5740559.5,159811060000.0,1935711.2,224220.02
+Muscle_Actions_227,145.511,1459896.1,23834644000.0,802619.56,85234.86
+Muscle_Actions_228,227.9295,2506311.0,67196957000.0,1679836.9,120636.95
+Muscle_Actions_229,428.01495,4688160.5,98407580000.0,1608745.8,121548.35
+Muscle_Actions_230,427.94232,6356357.0,139557030000.0,2013717.1,171873.77
+Muscle_Actions_231,283.04874,2854071.2,70941336000.0,1348966.8,149431.88
+Muscle_Actions_232,196.34535,4038824.5,124506490000.0,1922598.4,174109.36
+Muscle_Actions_233,404.93784,6840634.0,181983850000.0,2215766.2,209432.11
+Muscle_Actions_234,223.15297,2311428.8,56159937000.0,1218346.4,132317.38
+Muscle_Actions_235,265.98856,3812678.5,93969916000.0,1120372.2,181348.69
+Muscle_Actions_236,211.54433,2638748.5,64679825000.0,1388202.1,127784.75
+Muscle_Actions_237,150.15454,1416631.6,32096037000.0,993500.8,90920.61
+Muscle_Actions_238,256.7942,3574470.5,80294790000.0,1282328.0,166785.12
+Muscle_Actions_239,687.7772,9287418.0,202516610000.0,1963363.6,224864.45
+Muscle_Actions_240,388.79657,7291427.0,199581420000.0,2404497.8,233804.83
+Muscle_Actions_241,67.19436,1173438.2,32341957000.0,1233929.0,64116.26
+Muscle_Actions_242,82.223526,1295344.1,32765071000.0,680120.9,110502.92
+Muscle_Actions_243,0.597997,9177.553,206917920.0,59943.14,7572.025
+Muscle_Actions_244,413.6885,6488761.0,165745980000.0,2129011.2,178344.25
+Muscle_Actions_245,296.78323,5303492.0,155559300000.0,2267814.8,184972.45
+Muscle_Actions_246,122.53367,1478113.0,38401696000.0,1178386.9,106017.695
+Muscle_Actions_247,210.7937,3017579.0,79839250000.0,2034732.4,105922.45
+Muscle_Actions_248,0.5861732,12732.114,370566200.0,93658.09,9324.744
+Muscle_Actions_249,468.4546,9918639.0,320668370000.0,2422755.2,275317.72
+Muscle_Actions_250,220.03963,5613266.5,174888780000.0,2570091.8,181522.75
+Muscle_Actions_251,594.17145,11570674.0,340935770000.0,2905848.5,287259.8
+Muscle_Actions_252,290.22842,6479102.0,199471610000.0,2830383.0,186514.98
+Muscle_Actions_253,562.42413,5833641.5,131014900000.0,1418921.1,203837.44
+Muscle_Actions_254,431.6866,4363930.0,70674735000.0,1607618.2,137364.58
+Muscle_Actions_255,472.2839,10134964.0,308999300000.0,3397112.5,227264.7
+Muscle_Actions_256,576.7261,8256879.5,179549620000.0,2041770.0,159651.34
+Muscle_Actions_257,333.39047,4523409.0,118241570000.0,2038189.4,157156.67
+Muscle_Actions_258,139.30865,2270665.0,61877092000.0,1568923.8,109524.64
+Muscle_Actions_259,416.24826,6432018.0,160781220000.0,2377377.2,177604.89
+Muscle_Actions_260,42.31499,649896.7,17668649000.0,687183.25,81960.65
+Muscle_Actions_261,172.67134,1719812.0,39192900000.0,677512.75,132094.55
+Muscle_Actions_262,372.38788,4813334.5,129525150000.0,2220712.2,160703.92
+Muscle_Actions_263,8.197771,173341.67,4620426000.0,343387.3,28713.238
+Muscle_Actions_264,316.95007,2328730.2,40109548000.0,810987.9,128668.92
+Muscle_Actions_265,355.9566,3667808.8,94639520000.0,1391085.4,167676.73
+Muscle_Actions_266,314.1063,7608503.0,236268520000.0,3143944.2,168121.52
+Muscle_Actions_267,516.98047,6212513.5,161942060000.0,2139899.5,203625.9
+Muscle_Actions_268,152.34074,1853699.2,49739805000.0,917799.9,122122.42
+Muscle_Actions_269,181.86401,3866096.5,122987980000.0,1531268.4,166557.45
+Muscle_Actions_270,45.147217,737336.7,21585773000.0,693753.5,90571.11
+Muscle_Actions_271,172.52829,2708077.0,69678450000.0,1141390.4,136940.95
+Muscle_Actions_272,127.434204,2156646.8,62371107000.0,1539324.8,117400.61
+Muscle_Actions_273,344.85895,4651372.0,111272940000.0,1686927.5,180715.16
+Muscle_Actions_274,144.71425,1601126.2,40350278000.0,805590.1,124414.53
+Muscle_Actions_275,193.60645,2640321.8,66440188000.0,1035547.5,160587.61
+Muscle_Actions_276,247.38657,3696107.2,104128760000.0,1746381.6,159180.17
+Muscle_Actions_277,283.0962,3812556.5,99120630000.0,1629190.5,163158.45
+Muscle_Actions_278,242.1794,2473573.2,57581617000.0,1175464.9,130652.695
+Muscle_Actions_279,867.5192,11159594.0,176542140000.0,2082777.5,210712.7
+Muscle_Actions_280,418.33856,4563573.5,93718450000.0,1164765.2,178937.66
+Muscle_Actions_281,353.60544,3643079.5,45790777000.0,1714079.6,70302.64
+Muscle_Actions_282,209.85838,2648075.8,70788210000.0,1636335.2,116087.7
+Muscle_Actions_283,0.4126523,7140.205,154461140.0,59431.67,6099.5967
+Muscle_Actions_284,435.69394,6624175.0,191487820000.0,2389055.2,238813.44
+Muscle_Actions_285,77.70804,1117225.2,13514597000.0,586049.56,38058.82
+Muscle_Actions_286,91.477104,1351614.1,35410030000.0,782351.9,108966.86
+Muscle_Actions_287,409.8147,7310434.5,218502920000.0,2635926.8,211259.77
+Muscle_Actions_288,4.8795476,96335.06,2661099000.0,244352.11,19940.01
+Muscle_Actions_289,0.18270367,3332.4043,87477624.0,56457.758,4174.02
+Muscle_Actions_290,87.116745,1845678.8,61498122000.0,1513458.5,97073.305
+Muscle_Actions_291,197.2955,1725476.9,37573230000.0,1030010.94,119704.055
+Muscle_Actions_292,353.03528,5857456.0,149302150000.0,1661075.5,195715.7
+Muscle_Actions_293,418.06433,7021964.5,188551700000.0,2241847.0,189584.22
+Muscle_Actions_294,232.01343,3824893.2,78517740000.0,1147561.0,129946.81
+Muscle_Actions_295,189.16988,2594751.0,53316540000.0,790514.44,153949.05
+Muscle_Actions_296,301.95374,3142038.8,76841620000.0,913205.6,173231.11
+Muscle_Actions_297,327.90912,4795751.0,127611640000.0,1970823.0,173358.02
+Muscle_Actions_298,173.71,3100687.8,93685604000.0,1485611.8,169246.14
+Muscle_Actions_299,345.66864,4325158.0,70769470000.0,1231301.2,156122.95
+Muscle_Actions_300,88.05421,1363040.8,32430717000.0,935772.3,91604.94
+Muscle_Actions_301,256.86963,4932059.0,141458830000.0,1726631.0,176713.06
+Muscle_Actions_302,231.63574,3359500.0,95648285000.0,2064045.0,143620.47
+Muscle_Actions_303,227.9284,3223842.5,84667030000.0,1388987.1,144380.25
+Muscle_Actions_304,295.27176,3814437.2,76243730000.0,1461366.2,144308.17
+Muscle_Actions_305,407.66696,4695539.5,107353915000.0,1387856.8,181056.53
+Muscle_Actions_306,110.06513,1977707.8,59371024000.0,968148.8,143611.66
+Muscle_Actions_307,251.86098,3413010.0,89831200000.0,2191544.5,131761.23
+Muscle_Actions_308,166.44585,2766608.8,72004620000.0,1403091.0,149489.4
+Muscle_Actions_309,241.08565,3278852.8,86538390000.0,1433992.4,163615.56
+Muscle_Actions_310,405.41278,4842035.5,109325950000.0,1486906.9,189819.88
+Muscle_Actions_311,477.65933,4995541.5,94709010000.0,1274621.8,180568.7
+Muscle_Actions_312,180.66988,2991392.2,85849400000.0,1693784.2,167301.45
+Muscle_Actions_313,241.35387,3609504.8,99802620000.0,1368154.2,168547.97
+Muscle_Actions_314,203.64989,3974338.5,123355914000.0,1987701.9,171492.42
+Muscle_Actions_315,209.6231,4310996.5,131321180000.0,1355854.1,213846.67
+Muscle_Actions_316,399.4057,7155095.5,207710340000.0,2538600.8,195998.84
+Muscle_Actions_317,270.0374,2657375.2,53598573000.0,1257404.4,126731.39
+Muscle_Actions_318,420.05734,4789524.5,97797650000.0,1474129.0,159664.88
+Muscle_Actions_319,300.1834,3479603.0,94465700000.0,1661108.2,154810.58
+Muscle_Actions_320,95.77117,1425920.4,34154183000.0,909052.4,108635.02
+Muscle_Actions_321,137.55858,2554542.8,70573240000.0,1194267.2,147564.66
+Muscle_Actions_322,232.06467,3820020.8,90993700000.0,1365335.1,160699.89
+Muscle_Actions_323,210.12856,2790306.2,71139934000.0,964027.7,158587.1
+Muscle_Actions_324,213.28821,3404813.5,92106236000.0,1542224.9,163922.48
+Muscle_Actions_325,166.46935,2611541.5,75434025000.0,1231434.9,163052.78
+Muscle_Actions_326,106.747406,1218961.8,29224964000.0,595132.4,116846.0
+Muscle_Actions_327,135.53397,1145922.9,27979715000.0,850474.94,95530.19
+Muscle_Actions_328,128.96999,1606018.4,31688292000.0,770766.4,83314.46
+Muscle_Actions_329,27.280066,351794.3,8344519000.0,451906.16,48437.402
+Muscle_Actions_330,254.98312,2131720.2,41995325000.0,1046803.7,109321.01
+Muscle_Actions_331,269.6879,4114486.0,113612970000.0,2264100.5,123343.95
+Muscle_Actions_332,148.6525,2856068.2,87540000000.0,1273474.4,158421.05
+Muscle_Actions_333,86.41197,983659.6,24355630000.0,956402.06,74299.805
+Muscle_Actions_334,201.98592,3791919.8,113086530000.0,1420622.9,188107.05
+Muscle_Actions_335,162.23462,2353611.2,62677172000.0,1156814.1,148517.12
+Muscle_Actions_336,263.33792,3142368.2,86183760000.0,1277213.6,168931.36
+Muscle_Actions_337,324.54562,3650176.0,92602580000.0,1214786.8,163314.17
+Muscle_Actions_338,319.77972,5610596.0,155887160000.0,2472545.5,200469.23
+Muscle_Actions_339,524.7646,8737296.0,243436400000.0,3003254.2,222978.52
+Muscle_Actions_340,316.35446,4039820.0,105073980000.0,1674370.5,161937.27
+Muscle_Actions_341,188.41751,1487017.6,33336443000.0,771543.06,105776.75
+Muscle_Actions_342,139.29845,1435303.6,37471340000.0,795765.06,125208.37
+Muscle_Actions_343,411.20392,6719169.5,169675200000.0,2280099.8,211504.1
+Muscle_Actions_344,149.86299,1789211.1,43110650000.0,1020064.6,125170.695
+Muscle_Actions_345,95.15347,1565183.1,44384625000.0,905170.75,115333.51
+Muscle_Actions_346,109.528465,1461537.5,37691154000.0,671981.3,104028.586
+Muscle_Actions_347,101.27312,1074468.2,24640383000.0,668326.06,95980.64
+Muscle_Actions_348,131.90813,1177851.8,30088917000.0,961929.4,96684.55
+Muscle_Actions_349,250.97635,3856635.5,100783820000.0,1568561.5,176434.31
+Muscle_Actions_350,450.83157,6987783.0,191925700000.0,2748782.5,174372.86
+Muscle_Actions_351,104.09374,1572911.1,44128970000.0,1118131.6,110043.45
+Muscle_Actions_352,310.56805,3979872.0,91240160000.0,1066009.2,185353.7
+Muscle_Actions_353,170.50734,2281006.2,48905790000.0,1229148.1,94581.85
+Muscle_Actions_354,331.50238,6170291.0,179961400000.0,2304299.5,195830.02
+Muscle_Actions_355,338.04578,7107461.5,218940880000.0,2277135.8,215208.56
+Muscle_Actions_356,192.15044,1565009.0,30725366000.0,869907.75,112424.414
+Muscle_Actions_357,258.50388,2749868.5,69497920000.0,1272154.4,151754.84
+Muscle_Actions_358,25.787262,421112.6,11434378000.0,663452.1,46446.527
+Muscle_Actions_359,211.11678,2489568.0,55835710000.0,908567.1,137694.44
+Muscle_Actions_360,240.89969,4085625.5,113494690000.0,1787921.4,166199.73
+Muscle_Actions_361,109.82187,2043799.2,59466826000.0,1082576.1,143374.05
+Muscle_Actions_362,98.21993,1232241.0,34103513000.0,834547.5,107863.58
+Muscle_Actions_363,83.964424,1304502.9,31151895000.0,1210843.1,84078.016
+Muscle_Actions_364,565.6522,9820453.0,275241730000.0,2216730.0,255226.77
+Muscle_Actions_365,209.86511,2614920.8,58941678000.0,1449371.1,137223.72
+Muscle_Actions_366,219.66899,2036955.1,45359747000.0,959277.94,119159.83
+Muscle_Actions_367,383.77927,7827200.5,219566880000.0,1750259.1,261603.8
+Muscle_Actions_368,313.6384,4210339.5,106738640000.0,2048770.0,156642.88
+Muscle_Actions_369,116.35837,1261427.1,31523822000.0,669633.5,112534.586
+Muscle_Actions_370,280.01788,2959355.2,66653532000.0,851794.7,153017.77
+Muscle_Actions_371,118.92429,2318144.2,67956494000.0,1315708.6,147197.25
+Muscle_Actions_372,79.92268,1069451.8,30850170000.0,779173.75,102692.836
+Muscle_Actions_373,434.31598,4379834.0,74478830000.0,1193420.5,154854.67
+Muscle_Actions_374,176.70552,2707456.2,75297470000.0,1556986.9,117637.805
+Muscle_Actions_375,176.86453,3084058.2,85262150000.0,1651339.1,163683.14
+Muscle_Actions_376,119.047585,1623109.0,38507530000.0,904902.1,111582.85
+Muscle_Actions_377,371.75595,6201388.5,174436140000.0,2575892.0,185275.27
+Muscle_Actions_378,356.6791,4613919.5,110190610000.0,1630870.0,173464.72
+Muscle_Actions_379,136.35448,1846779.4,48224305000.0,1130467.1,125153.6
+Muscle_Actions_380,295.57272,6102390.5,180704020000.0,2223227.0,211882.38
+Muscle_Actions_381,62.02259,1149271.6,31398414000.0,1081202.2,76101.18
+Muscle_Actions_382,175.35298,2268023.5,52438160000.0,1126986.8,127474.28
+Muscle_Actions_383,190.66406,1806699.9,35680010000.0,914147.56,106071.25
+Muscle_Actions_384,265.35208,3710229.2,103070940000.0,1660827.1,150861.14
+Muscle_Actions_385,426.01248,7895782.5,226584480000.0,2253776.8,212155.5
+Muscle_Actions_386,247.4953,2596762.8,61099287000.0,1477862.6,128089.25
+Muscle_Actions_387,192.31548,3288220.2,88360665000.0,1451451.1,155399.48
+Muscle_Actions_388,187.01552,2003060.5,45657170000.0,1204822.6,103815.414
+Muscle_Actions_389,40.855686,440669.5,10519351000.0,462815.66,57367.375
+Muscle_Actions_390,150.46114,2544135.0,65437356000.0,1190839.6,143500.03
+Muscle_Actions_391,172.52393,1301605.8,30677684000.0,700251.94,91520.73
+Muscle_Actions_392,167.94182,1538871.9,30246070000.0,813142.56,105851.78
+Muscle_Actions_393,128.4884,1978897.0,50197377000.0,1757479.4,79192.08
+Muscle_Actions_394,481.10742,6918464.0,176561160000.0,2332099.8,199268.11
+Muscle_Actions_395,156.72827,1648163.6,41489180000.0,1032601.1,111071.97
+Muscle_Actions_396,201.35356,2984959.0,81103500000.0,1243984.2,151613.86
+Muscle_Actions_397,383.20807,4700462.0,74703430000.0,1386709.0,141603.4
+Muscle_Actions_398,301.92172,5118267.5,138665280000.0,1559261.6,195779.56
+Muscle_Actions_399,304.85522,4437019.0,125868450000.0,1636228.9,176316.97
+Muscle_Actions_400,372.07468,5174436.0,127448230000.0,2192940.2,157392.12
+Muscle_Actions_401,166.0799,1942348.5,48162198000.0,818607.9,135825.34
+Muscle_Actions_402,233.94139,2383997.5,44402725000.0,900843.75,128179.01
+Muscle_Actions_403,164.55994,2433840.0,72226780000.0,1205704.2,146481.69
+Muscle_Actions_404,165.46489,1849515.0,40558514000.0,1049948.9,116945.49
+Muscle_Actions_405,326.90372,5019735.0,126331530000.0,1890758.0,169016.06
+Muscle_Actions_406,333.00427,5653280.5,163553200000.0,2021575.5,177961.34
+Muscle_Actions_407,261.11475,2633022.5,64373096000.0,1278984.5,136241.16
+Muscle_Actions_408,189.37053,1458262.4,38254023000.0,1240898.2,103320.92
+Muscle_Actions_409,267.533,3197660.2,79137100000.0,1987218.9,138934.23
+Muscle_Actions_410,174.61172,1754416.4,41838445000.0,774115.4,127576.305
+Muscle_Actions_411,77.1231,1179046.5,36033974000.0,808883.7,112467.64
+Muscle_Actions_412,123.74612,1491093.4,39439580000.0,820092.06,122062.97
+Muscle_Actions_413,184.75154,2372491.8,61843472000.0,1158827.2,148533.6
+Muscle_Actions_414,223.95946,2700169.8,57367888000.0,1198483.6,122902.78
+Muscle_Actions_415,335.1822,4983028.5,129752980000.0,1535659.4,201138.66
diff --git a/data/sac/sac_sit_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_sit_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b5feb218ac4689851c3749cb25e9c8177bea33b
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,12.362436089378628,74512.32727092673,1164642792.8054376,210914.2257271173,13150.594888765798
+Physical_Joints_1,14.721309523080935,92349.59653354461,1069060392.9277463,124483.23178457319,18314.810210940857
+Physical_Joints_2,52.324133881899854,431489.6254815634,8601382830.307117,717939.2533561223,26860.574397515167
+Physical_Joints_3,1154.8361088319768,5993663.223436263,71857113855.02885,958668.7805242228,159650.33220040856
+Physical_Joints_4,10118.652933573616,64651022.29549457,1273673706951.3594,8517468.856034901,286687.9146696854
+Physical_Joints_5,2644.402728360274,12066348.738875275,141520636973.9444,1731939.7284008923,193334.87204395205
+Physical_Joints_6,3140.0746719724134,19417471.52653125,375742947764.3608,4614875.047453857,156969.8602799818
+Physical_Joints_7,495.3922846117836,2336978.348917764,28187746770.495266,594124.357748401,100475.25715794048
+Physical_Joints_8,1683.4067768410157,7924159.139648663,91093695226.34373,1147175.2979420293,162881.16724491303
+Physical_Joints_9,0.04885535978083946,326.6201184610962,1447195.7300207021,10240.55695024634,325.4117396619667
+Physical_Joints_10,0.4769032380268793,3017.851544229006,11662791.544881113,28641.70060156403,725.1277074786027
+Physical_Joints_11,1294.5875643577788,7678048.803664061,146937754756.1368,2881198.521403482,98172.38987357677
+Physical_Joints_12,109.64085519636586,670602.7651770284,13286368443.983833,873510.1320800945,29457.656704540062
+Physical_Joints_13,16.057288562836767,79587.06900174603,1009456501.6926497,108061.2059190703,19126.46798536107
+Physical_Joints_14,6.728021321318118,32290.316135533663,207087387.33487064,60219.88681481948,7402.551116113117
+Physical_Joints_15,132.5615398638175,791467.2535575614,15495699741.500168,940701.1396073791,31830.11477948502
+Physical_Joints_16,32.138771469494024,151524.61800163324,1756424801.6176233,146764.64681906236,24997.49130195699
+Physical_Joints_17,3.8046664604048805,16661.48557291641,142943798.53978413,44525.7524298732,6474.879978615859
+Physical_Joints_18,167.75326693291376,1060027.6537457698,20492391716.231895,1074658.7497235504,36739.58071183824
+Physical_Joints_19,35.86778662858197,165622.4657173457,1803094075.9189742,149853.39537583545,25149.095636213162
+Physical_Joints_20,1.9501022955771128,12351.16596521048,121712907.53130679,43337.472296454616,5725.8597451865335
+Physical_Joints_21,210.47491567008996,1286520.1173295942,25528235320.02833,1207650.2170748736,40724.177418581065
+Physical_Joints_22,12.349315670721138,73306.37633968842,1135632138.9711719,111588.63325126014,20019.158712605793
+Physical_Joints_23,1.4415794680259497,6970.1395337757585,86850702.108354,33261.207009082325,5064.8799446867515
+Physical_Joints_24,14.976919052450919,210435.0723951809,4338625739.179983,303078.3639306452,33984.82927494445
+Physical_Joints_25,0.25293621310860237,2217.659189703704,32988638.540729392,21187.119709064405,3518.4090697670927
+Physical_Joints_26,2.3728889342829307,15900.2427219884,85121553.23569971,60996.45767248556,4345.987446524606
+Physical_Joints_27,14.438770679123795,203207.62025208038,4217730959.9232173,298601.4935774107,33708.53958408285
+Physical_Joints_28,3.7055028192438977,55897.52277469854,1361960199.3966336,179919.25585837653,18736.072486435
+Physical_Joints_29,9.248974959271317,145256.3518819557,3371299288.8182015,252804.85642216727,30949.575440019173
+Physical_Joints_30,9.70755290121943,124303.44964331272,2885049191.9207644,248153.0695793097,27478.02264062743
+Physical_Joints_31,9.73751923683778,134571.02733676718,3067758911.8745933,256196.8773170183,28324.96184069058
+Physical_Joints_32,8.706125401126544,140744.5682402817,3411039318.645153,254197.04115228748,30924.921308960933
+Physical_Joints_33,3.903410146098257,57509.36552282654,1341320406.9719095,178877.06581814837,18714.22706102177
+Physical_Joints_34,5.535899196041787,9185.150799564834,109467620.11493349,54714.273924366316,5061.712279461246
+Physical_Joints_35,12.416979837385043,133937.48744121668,2501721307.1287003,267886.3848020897,23286.804735031474
+Physical_Joints_36,10.015299489734518,34075.06276049517,226593482.123626,102024.6743023712,6346.83691821322
+Physical_Joints_37,1039.17836899509,2435907.0707808444,30725199096.522194,645578.6611615538,111665.01545872183
+Physical_Joints_38,20544.19245102845,173871783.8868316,4102309734950.551,9067902.204691622,984511.1809922546
+Physical_Joints_39,56.88526947937132,474722.5097189246,10851407971.214367,474199.3016147988,56074.12355772111
+Physical_Joints_40,5959.115533519491,91581547.49159369,2111736845688.1443,7535577.181500035,716798.8344902474
+Physical_Joints_41,212.33438936287783,1205382.451952016,21617385506.89914,597494.6111890797,86639.37378827148
+Physical_Joints_42,2226.5657069089943,20159449.97663614,473475310820.1263,4494947.069691814,304608.7486098768
+Physical_Joints_43,3479.5373046685672,16855664.004368998,336398152439.7443,3138026.18012625,320040.3424019486
+Physical_Joints_44,2606.053466738307,20427430.008085955,328449698186.98206,2681226.408715099,316113.447242615
+Physical_Joints_45,8546.983211190141,61152328.37564808,1228448176185.67,5401688.068291275,555299.9789363013
+Physical_Joints_46,8129.480950193527,77019657.0093321,1689520117835.9148,9174120.964638708,476616.2965955513
+Physical_Joints_47,951.6367696159003,9021781.024665106,157680324360.24197,1766147.0038188747,206454.56496362874
+Physical_Joints_48,1081.907204108459,6905052.7158824,101836589853.34131,1709580.6807513875,143676.07161527785
+Physical_Joints_49,1853.5385336846887,9601241.803411923,141661669618.6752,1833390.1839743054,225006.90432370722
+Physical_Joints_50,2522.8561821919748,29359012.36447646,636148209456.285,6102781.782353834,248602.36220707392
+Physical_Joints_51,236.3439469417745,2025801.7274616712,40843167588.04436,1200768.0892250435,85483.68267310024
+Physical_Joints_52,2945.534609802392,15588723.955658685,253973231840.67773,3513423.601563648,152806.57170925903
+Physical_Joints_53,5156.103384950523,85335277.34704673,2105461832066.6187,11785439.859196234,342795.9559064964
+Physical_Joints_54,499.44526322565184,11147886.277165068,331291520998.06714,4156799.32977718,133511.91744923353
+Physical_Joints_55,127.38044514678485,918615.4742581858,10207527962.868301,514491.16716435587,60911.85589856528
+Physical_Joints_56,2042.8551817302111,14142744.111371124,165311432870.4828,2757217.7727736128,151589.8910002895
+Physical_Joints_57,697.1823731277917,8998142.546650322,94984235283.08084,2822183.1818041475,87094.15136512574
+Physical_Joints_58,375.22578452074066,3112768.664688971,55440254943.69825,1586460.00303302,92789.42384115778
+Physical_Joints_59,4216.350109404997,76229463.92382796,2201914836974.203,4417925.351460448,1150153.2339746447
+Physical_Joints_60,680.8661921193973,4742358.43249042,86617062191.62274,1350030.8642572507,154884.48372480556
+Physical_Joints_61,12373.555639003216,313900701.3151303,9562668438665.09,7690870.152629384,2466833.33824413
+Physical_Joints_62,1371.4996337324014,30225004.131275643,917314288603.7847,2837373.157083722,748813.0747217155
+Physical_Joints_63,15.507122356404567,378470.8552454505,11212120986.824339,699195.5941420937,38004.20877738832
+Physical_Joints_64,3.1414361606386616,29745.564043738777,496885483.8576037,128399.52053134338,9929.650996545704
+Physical_Joints_65,1.337567453322441,18260.730878162343,437656669.1608383,130866.08992713534,9043.094548111081
+Physical_Joints_66,14.755537038684674,392901.25969834987,11458897074.251219,725031.7241461814,38580.24745232133
+Physical_Joints_67,4.672901396279696,131173.56254128588,3642526547.9489837,413155.3682765699,21924.655391659715
+Physical_Joints_68,14.7820807488211,277540.30110742635,7310429035.266954,523146.9125221693,30072.6768990038
+Physical_Joints_69,15.021002466812636,336220.7951762894,9714369844.05358,570573.145198174,37659.89883750055
+Physical_Joints_70,13.927801648437365,324292.69245466415,9425554875.642473,545778.3901479986,37935.52338752416
+Physical_Joints_71,16.538160128428665,308837.0869884172,7867859936.495343,561229.4086416187,30999.405566223893
+Physical_Joints_72,4.1822825220808415,114195.35133772908,3340491309.24603,375548.3431657559,21400.64033274625
+Physical_Joints_73,5.889449357718362,9472.078799537077,154847307.93222865,68159.93364642741,5755.295548690068
+Physical_Joints_74,88.43953887636081,928393.2405821668,18387603081.219276,583929.0684920645,56124.02738383723
+Physical_Joints_75,5.903581545262575,8787.6499783065,149146209.29083923,63933.51015677299,5375.702604595913
+Physical_Joints_76,1551.0903288198049,5609665.217715751,97483425444.67958,1662626.1466970441,127012.89879959812
+Physical_Joints_77,17621.034087170457,350510050.7206435,9208976887213.033,18208500.155936792,1214439.5774445573
+Physical_Joints_78,568.8034698568542,11125269.571677737,228498645234.31644,2988320.8889002907,156870.89959833992
+Physical_Joints_79,7674.502294767161,213229567.39983216,6458724056464.906,14518205.734230625,1047083.3415614859
+Physical_Joints_80,2429.1087167002806,17709201.59442592,253795835058.3136,2414038.9298347253,287109.8372156084
+Physical_Joints_81,1513.3606091044735,17530179.52465162,334428082338.27057,3557754.079590405,226759.3318486757
+Physical_Joints_82,8449.91188535196,63628509.68045957,1359213619506.704,6520008.1132887965,434267.9709497217
+Physical_Joints_83,5542.292235728807,50404993.5425527,1054621693260.7484,4421879.980257121,425003.824283776
+Physical_Joints_84,11189.14256352391,46480794.54854415,624275342753.9843,3409740.1337058027,465139.1978211332
+Physical_Joints_85,8685.817559844594,93236353.22016181,2178392808616.8804,10455366.302488847,578100.434119402
+Physical_Joints_86,2149.431025081366,26391498.946175326,596613982619.9556,5198193.915340949,330664.4947990077
+Physical_Joints_87,2481.018438959516,43558159.18533656,722921029276.9519,6781523.764830266,278773.9387720611
+Physical_Joints_88,30.84103677343752,216287.08214842924,4092095342.1361995,369877.27700382815,35182.482433337966
+Physical_Joints_89,26.899845572281116,465690.3253155134,11367601936.336985,734338.8909562712,29083.80179107333
+Physical_Joints_90,5086.06680786972,74585848.00081298,1891816952190.0032,9115363.676264439,567725.3357734126
+Physical_Joints_91,1502.7231607572098,17869199.390205946,398379483192.1667,4985354.001208513,213830.93591274638
+Physical_Joints_92,1267.4968422322206,9977819.905797213,194095226610.56595,2384220.8670114917,192008.65745219923
+Physical_Joints_93,46.54294777119196,580851.0342474149,8078422440.879226,730007.1460138083,35158.00167619187
+Physical_Joints_94,2791.381882195566,52301404.03251708,1400064354854.248,9342033.336770745,317204.9915158993
+Physical_Joints_95,3475.983062996801,34819853.628124595,647184087279.5015,5116129.227373605,290062.4061627641
+Physical_Joints_96,1423.351321539722,7165140.630320044,103759259991.25362,1675571.2505960304,110065.7460078832
+Physical_Joints_97,45.79933513354696,333240.6092118655,5254076460.858335,428148.99586478167,33033.72810537547
+Physical_Joints_98,928.4773193994715,10047171.741610805,195232192037.24823,2323674.697076461,197242.48255697193
+Physical_Joints_99,991.6301011800236,17835912.677801378,395784824230.7424,4513311.301522964,234995.07551817838
+Physical_Joints_100,2478.867015090987,21136862.986900456,361146195087.3314,3820852.696202581,223942.25318889675
+Physical_Joints_101,445.00187729860215,6826125.021188715,169013305521.22107,2806361.9048205763,127653.1691729533
+Physical_Joints_102,18977.00407180091,159960320.79006454,3487313203521.139,13997079.952474475,443074.25651529623
+Physical_Joints_103,2827.6863226330383,15594765.895273054,237304819388.62225,2562910.6689381776,269293.6498700899
+Physical_Joints_104,12756.277639851289,87304654.51745711,1204713541694.9587,6233545.495815037,557313.8984144004
+Physical_Joints_105,0.1116482162277264,1814.3609514615741,54781322.39271018,43989.75158790325,2627.4501650334596
+Physical_Joints_106,0.31100067166755185,1765.5347328302153,16412459.010222161,19639.18949426679,1776.163323135487
+Physical_Joints_107,5038.165044005325,65270897.22383815,1740951710015.4521,7573097.340243879,480143.4514394026
+Physical_Joints_108,51.573795617342824,492273.1205016172,7958632437.10657,501764.5658206004,32226.55145025864
+Physical_Joints_109,932.8302450393611,9402962.44404989,168764388438.31937,2324756.127399885,148877.44615339098
+Physical_Joints_110,6346.601809856774,120821685.5004982,2891170414968.9136,8510971.019575758,807438.1376338472
+Physical_Joints_111,6340.135208333238,73125341.51769872,1384369707546.6677,4626355.179686418,592605.4154176492
+Physical_Joints_112,6909.359852885452,31460180.548209067,552483738030.6246,3134286.8969850447,352255.5832711983
+Physical_Joints_113,29.255700628070322,266985.84003528085,3853580887.7560782,341312.12117790163,22675.499936146756
+Physical_Joints_114,94.39441894005753,586679.5013115336,3386585274.3341417,400650.167180521,18911.090583977046
+Physical_Joints_115,2005.4579701231503,18606585.86633272,311464712937.50616,2740398.747940755,222206.2330917278
+Physical_Joints_116,23023.651709284957,187097740.3156392,3692192460793.3335,14398394.002238989,497111.70638672163
+Physical_Joints_117,2423.4111113676518,15750847.024432518,227623539107.8902,1840754.104877109,269938.14538277604
+Physical_Joints_118,13666.319844835027,64401803.043688804,825322556297.2709,3853680.9329235693,488734.4427710875
+Physical_Joints_119,2.8173199009348617,18313.940497772426,111160984.77997108,60735.83341263038,3781.5894557315446
+Physical_Joints_120,2.1388421646017273,11732.220511798263,49203209.54758058,52618.218334409095,2451.442035677002
+Physical_Joints_121,14525.290982848155,132099881.91063733,2365048683050.865,8589511.752447415,580188.8939573253
+Physical_Joints_122,98.61106585912754,745146.8603086536,7892846269.5194845,495495.3321893088,36230.2808896268
+Physical_Joints_123,1958.422876575787,15161950.763057932,187239722063.29916,2411027.086675954,171003.38776446471
+Physical_Joints_124,5237.98683896545,89970053.79697725,2303563335497.3677,7823292.466426199,755047.1775576
+Physical_Joints_125,4305.54690523113,32977860.37361905,651511264373.2614,3013582.0081970403,485592.785092533
+Physical_Joints_126,2905.978931668583,15494926.518705206,248767837184.3866,2684891.8734453027,221848.7795186796
+Physical_Joints_127,80.15356179921386,572696.6293879235,4928699142.315838,363914.4721021244,26982.48674816447
+Physical_Joints_128,63.68276389516984,502256.77324285905,4752346016.260536,424962.71782418154,22968.536981761066
+Physical_Joints_129,6888.989465255425,56033643.36022984,843910700770.092,6371824.530487458,281814.6305447802
diff --git a/data/sac/sac_sit_checkpoints/best_model.zip b/data/sac/sac_sit_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..1c3c710a856a0f77d7236fba53901f64f3175d7e
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9774aa700ae821bebac30d0fba7c2ecf8f9f2b06ffd31389da5caea0c8138ac2
+size 158053812
diff --git a/data/sac/sac_sit_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_sit_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..e96b2f9f232d82b6bc46c10d21f67d83a9468bb6
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62c0f6ddffda2258edf816627466fb2271d7604d1761306adea67dfd787b9b1e
+size 405379
diff --git a/data/sac/sac_sit_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_sit_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ada962b6a07e34520054ef605f24462dc386d16
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa3a64d078e2e26ab4c551c0efd26961b2a873120efb93fd6b24a4f914073bb
+size 374027
diff --git a/data/sac/sac_sit_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_sit_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4a694289a37dd6a23024490cf8818f853af0e40
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f3c2706c15c76fc745b030f1c975b186c2acd5dc89f6e1cbd4ed25dd41fc51
+size 604300
diff --git a/data/sac/sac_sit_checkpoints/vec_normalize.pkl b/data/sac/sac_sit_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..44f9df65a8cf953d6056f98c3b73dfdfdb742b8d
--- /dev/null
+++ b/data/sac/sac_sit_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6096cb5dee3a75559b093af2c195922795d20050b503ce6916c8f1b24b3870db
+size 304389
diff --git a/data/sac/sac_sit_logs/SAC_1/events.out.tfevents.1778914413.discover-01.2278761.0 b/data/sac/sac_sit_logs/SAC_1/events.out.tfevents.1778914413.discover-01.2278761.0
new file mode 100644
index 0000000000000000000000000000000000000000..60fe907ad7028850fe18f4f72ff24dcdc705d55a
--- /dev/null
+++ b/data/sac/sac_sit_logs/SAC_1/events.out.tfevents.1778914413.discover-01.2278761.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52912ffa03fddf1e99b7a5bac43955ccc81ee9d14b13a0d901ae0763ceddf38
+size 15313431
diff --git a/data/sac/sac_sit_logs/eval_logs/evaluations.npz b/data/sac/sac_sit_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5af5309ad2a30871e6fe865b97a56c94ea2550fa
--- /dev/null
+++ b/data/sac/sac_sit_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a956d5c4808f76eed0d4182a34cad0e256c19beac58666ad0b8575f4617976
+size 68306
diff --git a/data/sac/sac_slidehard_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_slidehard_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37ec202ad8773d67ab280859770ec4caae41352d
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,36.890244,163506.95,1110061600.0,211992.66,22219.582
+Muscle_Actions_1,242.84029,1372392.6,9052488000.0,318716.88,70689.195
+Muscle_Actions_2,23.682096,96613.98,629282900.0,123196.27,16902.568
+Muscle_Actions_3,33.892757,170456.3,1273919200.0,189560.14,23651.324
+Muscle_Actions_4,68.90467,374028.2,2517774000.0,202243.53,36898.973
+Muscle_Actions_5,43.05934,238502.89,1679167900.0,234009.27,29848.1
+Muscle_Actions_6,62.181713,255853.73,1675482200.0,186735.12,26421.691
+Muscle_Actions_7,57.944717,304311.47,2042417900.0,209158.1,31952.936
+Muscle_Actions_8,26.116951,114716.78,806509630.0,150973.34,19406.012
+Muscle_Actions_9,29.943113,137426.3,932661300.0,239759.06,18670.98
+Muscle_Actions_10,50.964626,229383.86,1507555100.0,216785.8,26630.541
+Muscle_Actions_11,30.986658,165450.02,1126618400.0,159808.22,22203.791
+Muscle_Actions_12,38.75424,194913.88,1275907600.0,179216.34,25489.719
+Muscle_Actions_13,60.275726,251260.69,1727227300.0,321535.12,24531.488
+Muscle_Actions_14,29.262346,118391.38,806061440.0,151693.88,19141.896
+Muscle_Actions_15,25.260666,118551.55,869302460.0,144000.17,20307.379
+Muscle_Actions_16,26.903921,121308.52,829289400.0,182700.39,16401.31
+Muscle_Actions_17,27.255188,126653.23,910442600.0,165148.2,20456.418
+Muscle_Actions_18,52.73263,195803.28,1281182300.0,245400.77,19199.387
+Muscle_Actions_19,30.371243,159490.83,1173549200.0,191517.98,24072.746
+Muscle_Actions_20,52.805435,206134.12,1338725800.0,284909.22,24743.848
+Muscle_Actions_21,33.297512,164864.47,1197497600.0,204968.84,19486.225
+Muscle_Actions_22,32.612183,186514.31,1356352500.0,202475.84,23044.15
+Muscle_Actions_23,26.903427,150365.75,1018964800.0,124094.65,23534.834
+Muscle_Actions_24,25.490248,101637.555,668074100.0,197907.83,15964.722
+Muscle_Actions_25,13.689343,58862.64,394101600.0,134602.02,13804.222
+Muscle_Actions_26,42.65193,168175.64,1097045500.0,154376.17,24212.95
+Muscle_Actions_27,43.874752,178771.16,1144686600.0,195174.72,21450.963
+Muscle_Actions_28,25.926596,113766.21,734897900.0,179050.61,17081.822
+Muscle_Actions_29,30.870731,117634.55,757462660.0,147901.47,17960.932
+Muscle_Actions_30,28.069319,140573.42,1025513860.0,267505.22,21231.252
+Muscle_Actions_31,30.761652,138646.56,968527740.0,140934.27,21857.104
+Muscle_Actions_32,49.188087,222468.39,1502437600.0,229164.66,25421.42
+Muscle_Actions_33,49.192238,257809.25,1677246700.0,185987.06,28290.21
+Muscle_Actions_34,33.517544,142764.84,902229950.0,153828.3,21417.986
+Muscle_Actions_35,20.860088,97027.484,635131800.0,107492.14,19080.707
+Muscle_Actions_36,31.287088,169815.14,1221793900.0,156458.33,24010.924
+Muscle_Actions_37,25.779121,108370.1,732434100.0,148091.33,18366.584
+Muscle_Actions_38,35.589294,144278.0,876820400.0,164975.23,20728.209
+Muscle_Actions_39,38.83171,158789.1,1031127040.0,393592.2,19769.06
+Muscle_Actions_40,19.53886,95708.945,719812030.0,142835.17,18443.047
+Muscle_Actions_41,55.096565,197475.75,1224682800.0,205085.73,24010.387
+Muscle_Actions_42,36.15832,148555.66,960625660.0,172754.66,20453.842
+Muscle_Actions_43,55.577034,258691.3,1731430800.0,172711.6,30265.621
+Muscle_Actions_44,42.955345,202377.84,1361620100.0,187028.27,26203.598
+Muscle_Actions_45,57.10329,238990.78,1613790500.0,259064.14,24530.758
+Muscle_Actions_46,35.85236,156700.83,1019842900.0,221423.34,19664.379
+Muscle_Actions_47,46.060337,155695.16,999882700.0,177995.31,20852.068
+Muscle_Actions_48,43.009003,183337.55,1199789300.0,209373.61,21774.896
+Muscle_Actions_49,17.076479,83411.016,605825600.0,115923.79,16697.838
+Muscle_Actions_50,51.970913,258079.97,1757276200.0,269415.06,26785.604
+Muscle_Actions_51,27.989388,142616.42,977641150.0,219526.64,20301.275
+Muscle_Actions_52,23.976894,124510.29,901597500.0,149475.25,21914.0
+Muscle_Actions_53,25.754175,155226.7,1176192400.0,195603.36,24027.426
+Muscle_Actions_54,27.9377,130579.35,870170050.0,162926.44,20927.828
+Muscle_Actions_55,42.179966,191258.98,1299596400.0,277594.2,23364.455
+Muscle_Actions_56,33.852814,167901.22,1128165100.0,199635.47,24819.436
+Muscle_Actions_57,22.40361,104718.64,712983230.0,153025.75,16258.521
+Muscle_Actions_58,38.843815,174044.28,1209072500.0,325284.9,22691.078
+Muscle_Actions_59,83.85933,339438.78,2108688000.0,210642.61,34128.01
+Muscle_Actions_60,26.233406,135924.45,966612860.0,184445.45,22017.77
+Muscle_Actions_61,35.916553,176818.55,1287599700.0,240589.03,21843.271
+Muscle_Actions_62,65.83722,378326.44,2593284000.0,209263.44,37766.113
+Muscle_Actions_63,50.771557,222314.11,1464750000.0,211034.0,23803.625
+Muscle_Actions_64,69.48264,318135.06,2084731600.0,339044.03,27388.455
+Muscle_Actions_65,35.87031,162658.05,1050183900.0,221038.02,24310.191
+Muscle_Actions_66,28.430931,146896.66,1042294140.0,213177.05,20488.133
+Muscle_Actions_67,72.00063,222425.56,1326207700.0,262010.39,24182.771
+Muscle_Actions_68,26.074526,128958.914,914999360.0,193872.05,19878.178
+Muscle_Actions_69,16.925556,88795.555,631916350.0,155486.72,17393.627
+Muscle_Actions_70,31.22312,168683.03,1215499500.0,237159.22,24257.557
+Muscle_Actions_71,37.69654,144226.94,930482400.0,170892.56,20661.309
+Muscle_Actions_72,22.000769,109447.62,766687550.0,140193.5,18818.912
+Muscle_Actions_73,35.40889,146522.62,1017465100.0,195461.45,21611.004
+Muscle_Actions_74,41.30566,182912.36,1229103700.0,209596.88,22878.49
+Muscle_Actions_75,40.991257,211587.89,1486546600.0,158722.52,28148.883
+Muscle_Actions_76,44.1005,242315.8,1809419900.0,264987.16,26155.8
+Muscle_Actions_77,30.80174,152084.69,1089784000.0,197755.48,22545.854
+Muscle_Actions_78,49.073513,263793.8,1832258400.0,190355.88,31125.87
+Muscle_Actions_79,26.210081,123774.625,831460600.0,143574.55,21237.732
+Muscle_Actions_80,18.149574,93525.336,676679700.0,130399.34,18172.572
+Muscle_Actions_81,54.09474,237535.25,1702723500.0,249549.77,25370.697
+Muscle_Actions_82,39.248344,174761.98,1168156700.0,220228.8,23235.227
+Muscle_Actions_83,35.81924,183859.4,1263021800.0,166322.39,25468.992
+Muscle_Actions_84,35.754025,141987.6,956302900.0,152701.08,22145.822
+Muscle_Actions_85,43.22918,168460.95,1025762900.0,216230.62,22247.805
+Muscle_Actions_86,30.035997,123320.54,808524740.0,183268.62,18865.725
+Muscle_Actions_87,52.404556,206287.31,1261552100.0,246416.98,24783.914
+Muscle_Actions_88,15.697464,61849.426,381079500.0,144894.77,12432.884
+Muscle_Actions_89,41.618504,118481.414,633855900.0,142299.5,16095.882
+Muscle_Actions_90,20.0133,97097.55,692081660.0,185346.67,15903.088
+Muscle_Actions_91,27.171097,126032.05,822576600.0,177886.31,19068.807
+Muscle_Actions_92,28.360172,135242.53,906831550.0,175825.3,20971.797
+Muscle_Actions_93,27.30546,111948.8,745091650.0,189046.17,19237.809
+Muscle_Actions_94,41.460014,160908.86,1078829600.0,155790.78,23828.225
+Muscle_Actions_95,29.062136,143272.02,1025025000.0,176350.52,21274.086
+Muscle_Actions_96,39.76841,188727.34,1251796500.0,256090.38,25715.459
+Muscle_Actions_97,33.713894,148538.97,977235600.0,200589.2,20521.404
+Muscle_Actions_98,22.5138,108012.6,746087550.0,264642.97,17125.512
+Muscle_Actions_99,28.036037,121223.59,841618700.0,136780.6,19791.404
+Muscle_Actions_100,49.194183,154451.0,1005667460.0,269807.8,19447.846
+Muscle_Actions_101,31.400406,130269.92,794774460.0,151985.02,19834.117
+Muscle_Actions_102,34.383373,132026.97,877295360.0,175405.73,19605.025
+Muscle_Actions_103,52.948097,227257.2,1352019000.0,223770.2,25717.213
+Muscle_Actions_104,41.18619,215564.81,1460195000.0,201608.61,27531.629
+Muscle_Actions_105,31.676691,171012.27,1171352800.0,179659.72,24540.598
+Muscle_Actions_106,37.895004,203576.66,1409580300.0,212477.12,22136.088
+Muscle_Actions_107,41.508698,157249.28,1041420540.0,198389.0,22612.602
+Muscle_Actions_108,38.06536,145150.05,954001400.0,168963.94,22370.95
+Muscle_Actions_109,24.092505,124959.17,846114750.0,157457.7,20565.121
+Muscle_Actions_110,49.61923,236575.2,1618151400.0,201880.9,28250.102
+Muscle_Actions_111,33.332706,145059.17,1010744060.0,185828.23,20030.256
+Muscle_Actions_112,79.68625,408669.75,2848746200.0,194378.05,39333.586
+Muscle_Actions_113,26.038319,145368.89,1058224800.0,167156.55,22741.232
+Muscle_Actions_114,76.59367,412146.3,2732967000.0,185486.22,38619.87
+Muscle_Actions_115,26.579384,147217.64,1112098300.0,172161.08,21278.928
+Muscle_Actions_116,38.720634,180342.53,1247264600.0,206925.28,23363.254
+Muscle_Actions_117,13.212249,63898.234,425158050.0,124220.54,14020.939
+Muscle_Actions_118,16.091412,60019.97,385195900.0,128344.984,13743.819
+Muscle_Actions_119,29.47885,129123.85,887670140.0,189162.31,18864.354
+Muscle_Actions_120,43.60375,184312.4,1205595400.0,191299.81,24276.4
+Muscle_Actions_121,34.466755,111015.17,694772000.0,148435.52,18511.27
+Muscle_Actions_122,38.727505,202370.62,1376414500.0,175601.44,24514.6
+Muscle_Actions_123,37.17933,146102.45,984803840.0,149819.5,21913.912
+Muscle_Actions_124,36.835022,128979.28,856162700.0,139203.4,19855.973
+Muscle_Actions_125,51.56675,257263.58,1769804900.0,208974.98,30813.732
+Muscle_Actions_126,28.411863,125412.79,822314700.0,184252.19,17924.543
+Muscle_Actions_127,24.323444,117353.83,850153200.0,170540.69,17239.506
+Muscle_Actions_128,50.258087,220099.36,1488905200.0,233186.84,24164.863
+Muscle_Actions_129,29.911882,139932.28,947471360.0,132301.06,21816.31
+Muscle_Actions_130,27.716677,109109.64,704696450.0,258500.55,16173.98
+Muscle_Actions_131,34.49558,158046.31,1079453400.0,192058.3,23336.992
+Muscle_Actions_132,34.66972,166094.81,1178563300.0,145237.14,24184.98
+Muscle_Actions_133,24.70558,118060.77,787529900.0,123117.46,20381.34
+Muscle_Actions_134,63.743122,253667.45,1633051900.0,237765.58,27301.637
+Muscle_Actions_135,43.285854,208307.47,1384481000.0,157952.42,27550.473
+Muscle_Actions_136,22.95638,130503.63,883311900.0,268216.56,21187.22
+Muscle_Actions_137,39.48009,217525.02,1597663600.0,246719.88,23607.322
+Muscle_Actions_138,40.082207,154010.83,1047547650.0,169879.61,23350.861
+Muscle_Actions_139,94.76671,371605.56,2515387100.0,290565.72,30368.504
+Muscle_Actions_140,27.997137,130990.6,895802200.0,145496.25,18897.361
+Muscle_Actions_141,62.822628,278110.38,1795101200.0,179395.88,30813.584
+Muscle_Actions_142,99.03822,522315.53,3426879700.0,245531.84,43192.99
+Muscle_Actions_143,50.32075,220408.5,1571186300.0,238491.33,24696.072
+Muscle_Actions_144,42.77687,157735.14,1004765600.0,143511.98,22339.76
+Muscle_Actions_145,35.31382,162787.66,1067220740.0,157641.62,22282.617
+Muscle_Actions_146,31.164242,136571.7,935914100.0,167313.55,21194.705
+Muscle_Actions_147,35.317696,155281.22,1041220300.0,233715.17,19930.617
+Muscle_Actions_148,53.725895,179425.12,1086315000.0,305683.34,22322.695
+Muscle_Actions_149,32.985783,161414.88,1053839400.0,151567.0,22100.646
+Muscle_Actions_150,44.57652,241095.97,1691446400.0,200688.27,28056.623
+Muscle_Actions_151,47.929596,261339.25,1834336000.0,171939.77,31265.84
+Muscle_Actions_152,35.879948,168885.97,1137869700.0,227846.56,24142.617
+Muscle_Actions_153,30.345882,126500.19,801162800.0,155262.34,20118.496
+Muscle_Actions_154,50.3638,194743.77,1242790100.0,150888.11,24036.5
+Muscle_Actions_155,38.65874,152666.38,937987650.0,272607.6,18456.3
+Muscle_Actions_156,25.464952,110603.73,734274800.0,200279.88,16017.007
+Muscle_Actions_157,28.91774,110306.91,683196350.0,152838.14,17604.59
+Muscle_Actions_158,46.430286,222440.75,1592576000.0,189176.9,27197.195
+Muscle_Actions_159,36.331024,177632.02,1214809100.0,204419.53,23761.584
+Muscle_Actions_160,37.18351,218847.89,1584164100.0,219132.86,25593.273
+Muscle_Actions_161,40.849403,214162.25,1506336000.0,215301.9,26093.102
+Muscle_Actions_162,50.76077,216734.8,1412089200.0,184568.86,24756.951
+Muscle_Actions_163,53.81637,260895.11,1760731500.0,203483.83,30161.049
+Muscle_Actions_164,43.283363,166700.88,1132535400.0,251717.53,21620.502
+Muscle_Actions_165,50.505688,258666.66,1742979100.0,266606.7,26690.818
+Muscle_Actions_166,19.835703,98343.484,659663900.0,99226.56,18870.662
+Muscle_Actions_167,39.3531,151812.02,951359740.0,191020.84,20709.832
+Muscle_Actions_168,24.109299,116981.92,848544260.0,222503.62,18173.127
+Muscle_Actions_169,33.018753,183489.89,1299328300.0,201304.05,24828.598
+Muscle_Actions_170,40.129353,197427.25,1352042500.0,193686.55,27242.88
+Muscle_Actions_171,37.643475,162419.03,1029601340.0,190068.33,22238.715
+Muscle_Actions_172,40.51496,209067.95,1441532500.0,222471.56,23192.412
+Muscle_Actions_173,22.815784,122070.77,904216960.0,218235.14,19007.717
+Muscle_Actions_174,21.476313,109064.01,777529800.0,163813.92,18687.736
+Muscle_Actions_175,28.765585,131235.16,864964800.0,187786.4,19711.727
+Muscle_Actions_176,24.786182,110931.99,705058600.0,161228.75,18822.293
+Muscle_Actions_177,20.80696,81006.38,505745820.0,191728.06,14516.508
+Muscle_Actions_178,67.08317,373535.1,2507529200.0,220177.6,37668.43
+Muscle_Actions_179,36.2266,119511.24,703824260.0,258898.83,15482.908
+Muscle_Actions_180,49.49996,275612.66,1939996700.0,200271.44,31954.326
+Muscle_Actions_181,43.949123,186054.61,1174936600.0,178382.69,21912.068
+Muscle_Actions_182,39.276314,167932.22,1104893400.0,169604.5,21771.336
+Muscle_Actions_183,40.830395,204007.16,1474790300.0,228765.48,23746.828
+Muscle_Actions_184,20.876844,104474.734,753963500.0,162530.3,19059.375
+Muscle_Actions_185,34.45844,145557.16,947446140.0,221728.84,20966.527
+Muscle_Actions_186,39.747993,137510.56,829341000.0,194951.94,17687.203
+Muscle_Actions_187,72.57099,364743.25,2425805300.0,294241.06,31418.86
+Muscle_Actions_188,53.468216,290002.94,2083914200.0,214637.42,32717.623
+Muscle_Actions_189,46.619377,256095.14,1748107100.0,186600.36,30625.91
+Muscle_Actions_190,60.51305,239177.23,1542282800.0,190123.69,26284.61
+Muscle_Actions_191,54.9669,281141.22,1986486100.0,227709.33,32261.064
+Muscle_Actions_192,21.517223,111190.29,749609400.0,179773.78,18581.549
+Muscle_Actions_193,40.898083,226028.84,1650292900.0,233643.08,26052.549
+Muscle_Actions_194,18.690178,76166.96,485912100.0,170928.98,15104.0205
+Muscle_Actions_195,59.9108,271873.3,1911958100.0,434742.16,23875.59
+Muscle_Actions_196,43.797318,206916.23,1412294900.0,189655.95,25044.82
+Muscle_Actions_197,37.036167,166967.55,1137417600.0,235206.34,20840.713
+Muscle_Actions_198,28.471083,150479.89,1046628860.0,211363.31,23220.467
+Muscle_Actions_199,69.571976,339270.44,2213342200.0,230295.56,33312.082
+Muscle_Actions_200,16.312645,58854.12,374615400.0,141766.17,13666.831
+Muscle_Actions_201,15.696224,74572.45,525332000.0,116769.266,16965.396
+Muscle_Actions_202,126.794975,667948.8,4344058400.0,278392.06,49139.68
+Muscle_Actions_203,35.01271,136282.52,895996740.0,141262.28,21034.85
+Muscle_Actions_204,15.362612,82617.24,640020200.0,148532.98,14678.597
+Muscle_Actions_205,31.793287,164185.62,1115933300.0,149398.02,24646.84
+Muscle_Actions_206,27.002697,122783.79,837095800.0,165310.42,20558.14
+Muscle_Actions_207,54.051342,269560.7,1757241300.0,294895.94,28849.719
+Muscle_Actions_208,21.13938,122687.266,886271040.0,157462.62,20678.86
+Muscle_Actions_209,73.27539,421332.56,2923639600.0,238871.31,39416.555
+Muscle_Actions_210,137.3948,555963.56,3639095600.0,405917.16,37986.504
+Muscle_Actions_211,94.31933,526414.3,3622856700.0,266281.6,45222.32
+Muscle_Actions_212,63.711937,342682.25,2443044000.0,198014.67,34962.152
+Muscle_Actions_213,63.553215,301184.06,1949685000.0,411160.0,28226.094
+Muscle_Actions_214,42.546062,178958.73,1216448100.0,150563.27,24530.879
+Muscle_Actions_215,69.88799,342266.8,2336293000.0,303732.12,31184.598
+Muscle_Actions_216,91.785416,439625.03,3056609500.0,304509.72,35549.42
+Muscle_Actions_217,84.23637,394496.4,2742034700.0,298685.56,38790.336
+Muscle_Actions_218,59.840923,234896.2,1517610100.0,263023.2,26087.646
+Muscle_Actions_219,32.781876,141201.52,989607400.0,173761.06,20752.354
+Muscle_Actions_220,48.255024,207261.44,1272759300.0,222872.67,21790.387
+Muscle_Actions_221,49.85859,296749.38,2102827000.0,204921.88,32956.277
+Muscle_Actions_222,27.607088,125325.6,873315500.0,186294.05,21138.977
+Muscle_Actions_223,8.868917,39939.84,268493250.0,186111.8,8340.026
+Muscle_Actions_224,144.4357,731742.25,4889169000.0,477340.28,48768.438
+Muscle_Actions_225,73.51808,405145.25,2957064200.0,249539.67,39699.496
+Muscle_Actions_226,50.328384,282792.4,1890295600.0,258460.19,29818.264
+Muscle_Actions_227,52.286068,211325.02,1356750800.0,190304.94,24544.824
+Muscle_Actions_228,47.818558,258442.69,1817103600.0,250698.5,28335.094
+Muscle_Actions_229,80.21613,391761.62,2792287200.0,261579.39,35199.344
+Muscle_Actions_230,39.92494,197148.25,1321815700.0,175855.08,25436.023
+Muscle_Actions_231,41.22284,205255.67,1405956400.0,205826.88,24024.82
+Muscle_Actions_232,33.856102,157277.78,1134164900.0,165647.88,24254.414
+Muscle_Actions_233,39.30311,211283.53,1536506800.0,183167.55,28918.27
+Muscle_Actions_234,258.5978,1547826.5,10405033000.0,408077.75,77044.98
+Muscle_Actions_235,49.78501,231658.66,1603470100.0,244351.23,26489.215
+Muscle_Actions_236,56.746967,288256.84,2001569800.0,220684.53,33218.73
+Muscle_Actions_237,79.401245,445592.62,3096855300.0,282354.5,38185.473
+Muscle_Actions_238,61.651154,370786.75,2495538000.0,231789.17,37475.004
+Muscle_Actions_239,309.48923,1870483.0,13124078000.0,466593.12,85061.01
+Muscle_Actions_240,85.780396,498645.12,3586780400.0,301022.38,42850.477
+Muscle_Actions_241,109.84781,465038.62,3184716300.0,569573.3,35512.324
+Muscle_Actions_242,48.79175,277695.3,1967032600.0,198032.34,32569.809
+Muscle_Actions_243,67.76432,272538.78,1707386500.0,203851.77,26586.727
+Muscle_Actions_244,131.53328,820553.94,5842995000.0,406636.03,55947.188
+Muscle_Actions_245,69.13254,293492.56,1908066300.0,204030.25,30428.025
+Muscle_Actions_246,42.515827,214150.95,1383138300.0,165516.73,26622.463
+Muscle_Actions_247,171.49988,910455.25,6492363300.0,352151.53,56856.062
+Muscle_Actions_248,283.1981,1560515.0,11264014000.0,473017.62,72875.22
+Muscle_Actions_249,215.76962,1230652.6,9356261000.0,402200.1,69161.67
+Muscle_Actions_250,104.747856,471619.22,3264540700.0,390892.22,36796.29
+Muscle_Actions_251,148.15962,673295.7,4529659400.0,464150.6,43304.504
+Muscle_Actions_252,212.21649,1263491.5,8587097600.0,311982.06,69092.086
+Muscle_Actions_253,163.89748,948476.5,6423622000.0,287731.22,60502.242
+Muscle_Actions_254,103.90895,590148.9,4094462500.0,323781.75,44929.168
+Muscle_Actions_255,71.27662,314578.4,2139617300.0,391138.25,31360.31
+Muscle_Actions_256,107.99654,631698.3,4243557000.0,463083.7,47985.62
+Muscle_Actions_257,63.742992,299916.16,2084440000.0,262782.88,29180.084
+Muscle_Actions_258,123.57994,454234.03,2927229000.0,341200.2,31655.928
+Muscle_Actions_259,79.031136,235942.95,1310263900.0,306374.12,20291.533
+Muscle_Actions_260,22.41041,94860.96,631308700.0,108405.945,18320.613
+Muscle_Actions_261,100.689766,348786.06,2172361500.0,237079.66,32014.05
+Muscle_Actions_262,229.7557,812544.5,5294622000.0,405346.16,35692.4
+Muscle_Actions_263,143.10585,493651.16,3253684500.0,450785.62,31809.307
+Muscle_Actions_264,116.74942,418401.8,2688206800.0,376663.4,32946.836
+Muscle_Actions_265,158.25777,660841.25,4164432600.0,360894.97,44344.54
+Muscle_Actions_266,208.6499,1254179.0,8274490400.0,450683.84,68040.086
+Muscle_Actions_267,74.19833,328886.28,2099301000.0,327993.25,26339.562
+Muscle_Actions_268,108.13509,468652.5,3016667000.0,341340.44,37939.703
+Muscle_Actions_269,117.65199,388318.28,2302040300.0,352837.78,27925.871
+Muscle_Actions_270,66.86866,357210.22,2483478500.0,255456.2,35431.152
+Muscle_Actions_271,101.23782,451705.97,2924670000.0,213168.42,39585.234
+Muscle_Actions_272,41.613274,217531.69,1540627700.0,237030.77,26895.863
+Muscle_Actions_273,66.39504,295915.22,1992518400.0,308185.16,32629.162
+Muscle_Actions_274,191.86092,1011301.5,6911210000.0,338314.47,60444.61
+Muscle_Actions_275,68.85491,258524.55,1600722400.0,289182.38,23556.15
+Muscle_Actions_276,82.66035,333170.38,2145305900.0,346195.62,22877.826
+Muscle_Actions_277,89.517,411358.72,2783784200.0,256048.08,38121.773
+Muscle_Actions_278,162.92932,860031.56,5791517000.0,322059.47,56066.703
+Muscle_Actions_279,270.3582,1588420.1,10891952000.0,381322.28,78482.35
+Muscle_Actions_280,58.594395,322741.56,2204107800.0,219791.5,33540.504
+Muscle_Actions_281,141.69011,724851.7,4856230000.0,544605.25,47471.42
+Muscle_Actions_282,77.024445,398349.9,2682501600.0,250327.83,36679.727
+Muscle_Actions_283,93.76835,509463.8,3885480400.0,508658.53,26987.736
+Muscle_Actions_284,59.703445,281909.9,1894120200.0,208738.53,29842.844
+Muscle_Actions_285,172.37474,488114.44,2783210000.0,413339.5,23067.203
+Muscle_Actions_286,58.020126,232469.95,1586915600.0,259925.39,21823.107
+Muscle_Actions_287,101.35701,487027.66,3224108500.0,353572.44,35522.875
+Muscle_Actions_288,109.5342,518598.47,3296152600.0,323457.12,40301.383
+Muscle_Actions_289,109.10164,431467.6,2634697200.0,307706.8,32040.12
+Muscle_Actions_290,16.376297,82222.1,578862400.0,112338.21,17854.525
+Muscle_Actions_291,36.810837,165285.44,1112981400.0,154179.36,23549.016
+Muscle_Actions_292,29.62977,147298.6,1005869760.0,278506.03,18928.98
+Muscle_Actions_293,36.32967,182542.39,1305746000.0,277910.0,17645.81
+Muscle_Actions_294,4.228301,21872.045,144337340.0,137403.78,6998.7803
+Muscle_Actions_295,21.617928,76286.59,477112260.0,134156.4,14396.403
+Muscle_Actions_296,71.58851,370720.7,2404657700.0,202624.06,34640.46
+Muscle_Actions_297,28.834297,112706.26,730042800.0,187093.8,17436.748
+Muscle_Actions_298,33.718,153282.45,1110641000.0,151102.56,22744.824
+Muscle_Actions_299,54.174664,299823.56,2060557000.0,275127.97,32889.457
+Muscle_Actions_300,34.930218,171662.92,1132365000.0,192234.1,22083.229
+Muscle_Actions_301,31.437778,127363.59,850188350.0,139338.58,19815.56
+Muscle_Actions_302,38.326584,162592.9,1085787400.0,351064.28,20612.326
+Muscle_Actions_303,33.19442,152722.0,1025371900.0,231292.16,20495.129
+Muscle_Actions_304,39.365902,150947.25,969923200.0,194859.62,20556.953
+Muscle_Actions_305,49.491383,265031.2,1884666600.0,233878.38,29026.795
+Muscle_Actions_306,26.636887,116568.04,753951740.0,168803.45,17880.209
+Muscle_Actions_307,38.241676,162303.16,1136077800.0,211841.22,21144.559
+Muscle_Actions_308,48.161633,239584.56,1655189500.0,236934.58,26203.186
+Muscle_Actions_309,19.560421,99672.6,716377700.0,163765.11,18364.322
+Muscle_Actions_310,43.899517,177691.8,1107624200.0,276758.66,20374.613
+Muscle_Actions_311,18.0993,97055.5,699081500.0,176542.11,17738.64
+Muscle_Actions_312,30.154478,138320.78,962335000.0,181899.9,19743.586
+Muscle_Actions_313,18.358513,74709.516,519615580.0,131861.95,15172.023
+Muscle_Actions_314,69.58869,361444.28,2526282000.0,266914.84,33779.258
+Muscle_Actions_315,32.612335,113739.03,731175200.0,140102.95,17948.346
+Muscle_Actions_316,37.449482,160509.27,1016331900.0,172110.2,21191.002
+Muscle_Actions_317,20.853731,118209.88,836169600.0,140364.12,20596.836
+Muscle_Actions_318,45.65959,243903.94,1714035100.0,203215.22,28824.924
+Muscle_Actions_319,40.65262,172185.08,1139670700.0,172605.31,21522.824
+Muscle_Actions_320,44.51073,206546.9,1351149200.0,200628.97,26693.184
+Muscle_Actions_321,48.352947,276876.1,1933317000.0,177126.31,31081.904
+Muscle_Actions_322,9.453415,38559.82,262170660.0,146990.11,9944.946
+Muscle_Actions_323,27.711573,120391.92,823460350.0,279560.34,18769.033
+Muscle_Actions_324,25.08439,127176.33,945847800.0,187545.47,19555.158
+Muscle_Actions_325,59.31673,230969.77,1518210300.0,201558.97,23807.84
+Muscle_Actions_326,63.683334,251746.56,1650397600.0,296647.6,26753.42
+Muscle_Actions_327,28.26797,123301.12,804876540.0,220914.72,17808.146
+Muscle_Actions_328,8.754024,33611.535,224042990.0,90670.5,9013.627
+Muscle_Actions_329,9.116273,38333.02,257216850.0,71601.85,12068.275
+Muscle_Actions_330,31.20271,147257.38,938392500.0,147151.75,21339.541
+Muscle_Actions_331,26.665932,149257.64,1010267260.0,122062.28,23549.63
+Muscle_Actions_332,0.31473538,1834.302,14009068.0,29264.6,2346.6816
+Muscle_Actions_333,43.25146,159731.23,994019840.0,177423.81,21767.764
+Muscle_Actions_334,26.089855,125156.85,873792960.0,182029.39,21469.996
+Muscle_Actions_335,34.06085,133599.38,849911360.0,167252.81,16862.098
+Muscle_Actions_336,22.102903,120239.19,833900860.0,230590.53,20259.625
+Muscle_Actions_337,30.353937,113719.89,756708740.0,170562.98,18405.498
+Muscle_Actions_338,18.254309,88483.21,587107900.0,136119.34,17081.006
+Muscle_Actions_339,23.949371,115533.55,826675700.0,181183.47,19187.225
+Muscle_Actions_340,28.590786,128837.375,879075800.0,172723.39,21140.71
+Muscle_Actions_341,43.544285,204400.94,1371168800.0,166100.06,27320.95
+Muscle_Actions_342,46.621696,185594.78,1152057000.0,202830.53,22950.217
+Muscle_Actions_343,34.6858,128410.1,881678900.0,299554.44,20053.934
+Muscle_Actions_344,32.353275,104927.8,706684100.0,114635.734,19113.898
+Muscle_Actions_345,24.795734,132677.52,968879200.0,161664.25,20419.314
+Muscle_Actions_346,36.65983,191244.22,1407772700.0,202452.12,24712.633
+Muscle_Actions_347,9.039167,39918.68,282869020.0,119145.26,11252.534
+Muscle_Actions_348,37.46673,153511.22,1032112300.0,173802.23,21660.99
+Muscle_Actions_349,49.429523,259730.6,1855436700.0,186901.73,32554.713
+Muscle_Actions_350,30.490988,129384.61,896226400.0,178656.78,20401.83
+Muscle_Actions_351,29.711346,109159.83,744789400.0,147213.52,18830.617
+Muscle_Actions_352,27.752325,126942.555,853863900.0,206137.92,16963.904
+Muscle_Actions_353,46.301464,152369.16,963435840.0,137672.98,21721.27
+Muscle_Actions_354,39.562027,209655.39,1545004000.0,176484.9,27722.383
+Muscle_Actions_355,39.97121,191226.44,1340602600.0,170678.64,25044.13
+Muscle_Actions_356,26.406298,141754.69,1018189400.0,181229.86,20603.387
+Muscle_Actions_357,2.4745946,11569.88,76592830.0,75464.055,5898.617
+Muscle_Actions_358,3.1172955,15251.991,107256680.0,44623.508,7312.542
+Muscle_Actions_359,23.134672,103611.97,704205600.0,137874.44,19211.9
+Muscle_Actions_360,35.4996,180878.84,1240992800.0,227235.11,22948.623
+Muscle_Actions_361,44.757347,227518.84,1661414300.0,280577.03,23963.965
+Muscle_Actions_362,35.836754,180763.14,1273043100.0,195765.73,24036.553
+Muscle_Actions_363,21.899664,110500.05,744644160.0,137424.1,19249.479
+Muscle_Actions_364,52.12478,224820.17,1443017100.0,224621.08,22138.732
+Muscle_Actions_365,54.024693,219301.77,1503948200.0,206776.64,27141.637
+Muscle_Actions_366,26.72937,133771.27,943840900.0,236346.92,18918.139
+Muscle_Actions_367,29.504913,126090.555,837935500.0,155520.1,18805.332
+Muscle_Actions_368,53.1294,314163.94,2301284400.0,301389.72,27890.492
+Muscle_Actions_369,10.379251,45712.58,308682850.0,101077.54,11806.501
+Muscle_Actions_370,13.7134075,59705.523,354813600.0,158920.11,13098.461
+Muscle_Actions_371,43.54865,207736.73,1502503200.0,223194.75,24444.193
+Muscle_Actions_372,34.63236,140190.86,927051500.0,151574.33,21404.184
+Muscle_Actions_373,68.356255,347765.0,2410716700.0,294661.62,33805.438
+Muscle_Actions_374,15.084766,65776.15,447334460.0,111244.94,14328.94
+Muscle_Actions_375,43.329826,214310.66,1444399600.0,200653.19,27560.12
+Muscle_Actions_376,40.611176,194018.42,1300123000.0,137662.47,27180.824
+Muscle_Actions_377,37.823402,161195.28,1026856960.0,159400.97,20746.18
+Muscle_Actions_378,32.853966,144058.98,902756030.0,310398.62,19572.895
+Muscle_Actions_379,36.456253,185752.17,1283305000.0,246439.08,20019.203
+Muscle_Actions_380,38.167187,190347.45,1320489000.0,216951.64,25507.17
+Muscle_Actions_381,13.759254,59169.312,423069440.0,150908.44,11997.002
+Muscle_Actions_382,32.99192,137209.6,890948160.0,165290.8,21492.943
+Muscle_Actions_383,38.499126,130250.94,819649200.0,171755.23,19556.305
+Muscle_Actions_384,58.55032,289625.9,2001035900.0,229979.94,31611.836
+Muscle_Actions_385,48.48329,161239.3,1080375700.0,199232.94,20894.85
+Muscle_Actions_386,34.3986,149277.52,1039234050.0,178806.05,22334.16
+Muscle_Actions_387,37.55989,123484.04,775476700.0,183409.81,17542.102
+Muscle_Actions_388,29.792194,98581.875,620727800.0,100084.2,18660.133
+Muscle_Actions_389,35.753147,159574.61,1057788500.0,183409.08,22969.213
+Muscle_Actions_390,7.818561,35510.402,267054270.0,126683.94,9646.557
+Muscle_Actions_391,9.263526,45466.355,317116640.0,103025.69,11823.924
+Muscle_Actions_392,107.093094,434821.97,2868114000.0,324409.78,31209.596
+Muscle_Actions_393,55.273785,313765.97,2105361300.0,168091.97,34207.355
+Muscle_Actions_394,22.924227,89816.414,586624100.0,131751.03,17049.828
+Muscle_Actions_395,46.87516,161060.1,865224500.0,183141.2,18077.865
+Muscle_Actions_396,24.888538,113940.016,810300860.0,153866.61,19392.889
+Muscle_Actions_397,58.436726,376200.84,2753383200.0,276234.06,37887.785
+Muscle_Actions_398,42.443016,224494.81,1601034400.0,318615.78,24417.594
+Muscle_Actions_399,12.493252,56090.93,368743400.0,116039.84,14642.936
+Muscle_Actions_400,43.649498,201022.3,1391985000.0,185975.55,26310.914
+Muscle_Actions_401,1.9960741,8247.279,56411252.0,119684.73,2860.913
+Muscle_Actions_402,27.932005,124968.48,874255940.0,120205.46,21802.672
+Muscle_Actions_403,45.894848,236421.66,1581997700.0,160611.78,28307.145
+Muscle_Actions_404,21.360182,108249.586,782815100.0,204472.0,19019.113
+Muscle_Actions_405,37.99999,192267.77,1326432000.0,205428.88,21452.586
+Muscle_Actions_406,17.678738,86538.6,616810300.0,145650.16,16515.758
+Muscle_Actions_407,23.51931,102580.266,718732740.0,105303.41,19865.69
+Muscle_Actions_408,31.109842,126685.02,812896900.0,222799.67,16436.305
+Muscle_Actions_409,31.355959,129683.12,845373250.0,137098.48,20948.475
+Muscle_Actions_410,7.6624174,31451.83,216020020.0,140914.67,9355.68
+Muscle_Actions_411,45.5787,210545.81,1360760800.0,178993.97,26285.467
+Muscle_Actions_412,23.668726,95550.625,651441540.0,135954.05,16581.824
+Muscle_Actions_413,13.836876,70081.25,513004000.0,85243.625,16318.81
+Muscle_Actions_414,37.930714,179422.19,1271172000.0,267624.2,22539.455
+Muscle_Actions_415,30.247398,131270.95,927342800.0,266799.0,18465.02
diff --git a/data/sac/sac_slidehard_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_slidehard_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eed657e826310b143fcc83995a83bbfc60162547
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,20.332479133152756,113715.89427909556,743082136.0412743,122843.94677187849,20211.531450711227
+Physical_Joints_1,7.110873987226437,25875.46819422333,147700606.19143087,76614.48230333922,8006.110590077518
+Physical_Joints_2,12.80142881073569,42881.06088637547,256874608.64203677,127330.5638133139,11667.691169914195
+Physical_Joints_3,414.9851893666357,1983434.5319337188,12350299698.624928,526344.2415827386,79032.20433348695
+Physical_Joints_4,1698.4998167421052,10195779.223357033,67909455840.40837,944871.7757246462,193195.68081061155
+Physical_Joints_5,752.5962072843638,3060669.8023552024,17305248147.392857,714746.7961613798,91148.54536220027
+Physical_Joints_6,536.7126414664696,3228306.221966825,21506905823.724716,542664.739532604,109073.12311438186
+Physical_Joints_7,216.83802249404857,1028727.1502721647,6303900564.891607,422241.2036778515,56328.772913718225
+Physical_Joints_8,414.7668683300509,1478545.5671599652,7931741775.305403,698124.428094919,52815.14282650159
+Physical_Joints_9,0.0006562492973866795,2.513889449250911,13350.300504889134,426.31515754268827,88.32831309634145
+Physical_Joints_10,0.0013614073393513177,6.633895358293679,41254.90927419748,1046.5787510831244,150.73124844399018
+Physical_Joints_11,216.81772032521084,1300006.8177600217,8643878841.232954,344720.86477084877,69184.52760757017
+Physical_Joints_12,21.127223488590076,130123.73305349855,882070085.7415633,107052.77918901383,21990.207703809585
+Physical_Joints_13,7.695896580333975,37915.16949042086,237584851.2893164,82251.26205708364,10926.791044234946
+Physical_Joints_14,0.7096732153952766,2968.215327225308,17885852.412732925,32379.976288452024,2535.4006973529567
+Physical_Joints_15,25.505054374549264,156902.7722598005,1063045353.4260373,117164.64362304045,24128.707262351316
+Physical_Joints_16,13.466871426964397,64942.37043693018,402071952.8096178,106836.38928328035,14220.95967380261
+Physical_Joints_17,0.6205708853987797,2353.4805815594323,13303302.155379161,28086.212035285407,2179.954463469536
+Physical_Joints_18,31.325630051728815,191396.59354434753,1290272435.1619928,130394.86425056879,26609.09595710061
+Physical_Joints_19,13.889831818435427,66661.15912862202,411547847.45316076,107832.21056909423,14394.79545453166
+Physical_Joints_20,0.41086348495301156,1517.9405222871014,8413367.464903835,22313.18813934276,1734.792723809883
+Physical_Joints_21,36.14817764642225,218809.25577082572,1464516153.1545568,141004.75265768138,28402.617067426534
+Physical_Joints_22,7.879377433417899,37816.307067936126,233116665.2829622,80834.29814560439,10807.150685581595
+Physical_Joints_23,0.34979867700563594,1271.3861911957795,6944270.418125542,20223.78174712659,1563.661993629732
+Physical_Joints_24,6.9318690690844935,44093.1762902658,349131681.6658648,88956.07373400933,13138.225225010436
+Physical_Joints_25,0.30886510512494286,1135.658562983053,8078920.625626877,27090.979410745807,1757.5613668994567
+Physical_Joints_26,0.30854247915637617,1131.9174726089211,8067735.148984357,26939.533185590553,1762.0805453129067
+Physical_Joints_27,6.884711727189787,43771.31519351401,346957620.2586108,86891.38105155055,13108.188912697302
+Physical_Joints_28,1.690722859067448,10393.078611564542,78208094.95104563,45593.844804034605,6154.83637306847
+Physical_Joints_29,4.973526633606931,18954.381932582397,132647400.52374125,62634.25271454854,8234.050011267493
+Physical_Joints_30,1.3157682875932777,5069.794535832933,34723551.66933076,43724.87897377998,4128.014783610413
+Physical_Joints_31,1.2966775098543197,5207.6507489369405,36771791.026296094,34711.26155821663,4304.467275239097
+Physical_Joints_32,4.8772303917134625,18382.220289023768,128649679.74446763,66077.06696022808,8031.755205553075
+Physical_Joints_33,1.6932924455577425,10408.150280008826,78422346.14795068,42774.587397427946,6178.088868121576
+Physical_Joints_34,2.1252074662210916,4427.719471965044,27632993.91174911,38957.50908050884,3435.535366882453
+Physical_Joints_35,22.89338059033897,70948.97201588882,467430070.4643063,146207.9316369463,15159.347716016258
+Physical_Joints_36,2.116806605278222,4305.893647924535,26450757.671324033,39286.18848610786,3343.9022545048124
+Physical_Joints_37,250.95529203298415,331887.3280413386,1671324356.8812034,223362.4855945345,29678.716615702782
+Physical_Joints_38,2516.596163348384,14032583.002296533,107652661480.15393,1477676.2315453403,227769.63853373972
+Physical_Joints_39,98.53091790936162,493402.66341359523,3075718992.098035,574689.6604678103,26465.150973807824
+Physical_Joints_40,926.5243879282403,3941077.1084342552,25798612536.283943,1136992.1609088087,109317.93185921332
+Physical_Joints_41,29.545862506495908,118106.0943580661,768777633.9617236,270572.83436244266,19219.979096912695
+Physical_Joints_42,200.25246089549597,452201.36861014884,1854812068.044259,710339.8656716848,15929.236053296316
+Physical_Joints_43,237.47897369354615,652476.2930903004,2853124409.907688,1054025.277620044,24211.594718925968
+Physical_Joints_44,74.98436906041198,252312.03305288503,1225084122.2317276,693479.075865388,10111.94742052182
+Physical_Joints_45,397.74005471878047,1513202.6869230913,9234613783.089025,891186.0021854389,51347.179998414205
+Physical_Joints_46,77.98146501079121,206320.29943777737,1128818574.062148,487550.18918731186,11004.592411745341
+Physical_Joints_47,35.67625321706537,139798.19532556023,874323799.1150702,181085.55776156552,20418.144083310508
+Physical_Joints_48,60.42269233672872,184804.66653129764,1013839667.4302311,621929.4511096644,13829.844215843914
+Physical_Joints_49,532.0133190840935,2197820.016816792,14206557760.063322,1082366.7839435362,59004.92672904718
+Physical_Joints_50,532.4074622208313,1561729.5859612138,9342982526.244585,800770.1460425335,52359.82670358063
+Physical_Joints_51,29.023593059748666,72796.04438142889,383575699.02504456,140183.25723630135,13304.700371340383
+Physical_Joints_52,63.3667221107644,235425.35145868856,1274785123.7837164,556953.806995001,14947.039844828123
+Physical_Joints_53,176.68977739394896,673493.2582681677,4579631935.069694,1529679.8082666397,19199.07879766969
+Physical_Joints_54,30.773811774077416,125822.0516718942,768020364.6021466,648368.2359259394,7229.244482937964
+Physical_Joints_55,100.26794882178899,122686.78845838665,420771914.1072732,336959.41154500615,8776.28673527909
+Physical_Joints_56,51.576791674992954,176221.3520979429,995133190.1861453,577696.0551529942,15290.10235708266
+Physical_Joints_57,52.912649996058086,145784.9944264942,821529906.023582,356001.36099200207,11332.086419700956
+Physical_Joints_58,59.619263691881095,120515.103647972,681871480.674803,280849.24601637083,15655.712970557865
+Physical_Joints_59,559.2965990088886,3801533.5646810895,30603399124.45371,930862.3124118038,106414.56892768158
+Physical_Joints_60,87.37046822765626,486360.60556758527,3670831025.368366,501833.1067645053,30035.07980697663
+Physical_Joints_61,4037.6686461040686,28635415.823451772,229710590152.28357,2218864.3767976523,339605.28779756674
+Physical_Joints_62,457.8515441349688,2698875.4555964586,20471193946.770355,578503.1868624934,90132.25041642683
+Physical_Joints_63,12.64085100829135,91363.49146854515,751202142.9726686,99993.61456689186,20244.364151631144
+Physical_Joints_64,0.11344065962188347,654.6714524884499,4879497.377258514,15060.159484681772,1431.557978935992
+Physical_Joints_65,0.10482593052131604,603.8418327354008,4480315.85397967,15169.410489003218,1340.6314957849784
+Physical_Joints_66,12.654564090945453,91527.17097492318,752612459.8539422,100510.29616571215,20260.74588929987
+Physical_Joints_67,3.058193876668133,20983.176710887168,169320516.69408283,48473.710101454715,9729.914140679757
+Physical_Joints_68,4.534468020352006,30684.2305377438,244774014.2988071,54020.528371259876,11741.881493743444
+Physical_Joints_69,1.106131780342673,6101.9365471016845,40817886.66556474,58549.64900908345,4299.238918853294
+Physical_Joints_70,1.3870570352588292,7622.2397779788935,50257030.274131544,67482.64470617456,5018.335716084914
+Physical_Joints_71,4.567854390229911,31117.956456699823,248896864.8943883,54550.94236464213,11833.844905681746
+Physical_Joints_72,3.112378252437367,21424.30944519831,172793560.60837635,50442.882177543186,9857.789239040447
+Physical_Joints_73,1.750856541621113,3942.050387401284,26025736.459379006,18225.16610045265,3506.0576128329544
+Physical_Joints_74,7.182608652923453,38610.13428079483,264857490.4969529,172218.4638079643,6914.92185439351
+Physical_Joints_75,1.7616703353025074,3920.0950742261634,25555010.567388043,19458.684719539033,3450.171249781559
+Physical_Joints_76,144.58400829415862,393753.88395100937,2554552552.2373405,236613.11679864072,38470.81638862232
+Physical_Joints_77,4667.386602822152,26700346.517650288,205575683510.22604,1593160.3073222747,343051.7918286436
+Physical_Joints_78,397.37695980228415,2838037.187300462,23026689785.153797,637576.2973570417,107411.51355978094
+Physical_Joints_79,2360.440805315352,16582207.33412197,136266854908.60265,1411053.0373189005,269786.81654316094
+Physical_Joints_80,169.82185432694493,731167.7804785335,4759483141.792391,666353.352027745,39067.58268889748
+Physical_Joints_81,538.0701147115476,2188781.46038754,14415110356.187813,727411.8917033961,72244.01075747884
+Physical_Joints_82,176.0492335272492,883847.3116676273,6347877653.348098,723180.3348958922,50184.77488521534
+Physical_Joints_83,65.32593613045013,248125.32361420366,1364290441.9026675,490563.2372834226,17846.196112785692
+Physical_Joints_84,24.366445412798505,64363.33731047752,373751599.490536,239952.44182013365,10730.740141493116
+Physical_Joints_85,85.28010694074838,302864.51926277496,1959868172.505225,468954.4335817343,17173.860701368023
+Physical_Joints_86,1784.7803397751065,4762695.249159066,25944590008.77701,1052470.8372386906,76833.72652437634
+Physical_Joints_87,141.8118967500152,548738.3435405736,3829115764.020028,548370.1216469039,36371.84683870535
+Physical_Joints_88,192.0084548813834,632025.1166538051,3695464949.8631535,709190.7518655375,26368.35365323521
+Physical_Joints_89,11.122370979947341,24300.923805857765,135277281.1473664,121041.246640842,6698.369438745765
+Physical_Joints_90,156.16689870123983,488449.24695291644,3098390401.0439415,703106.0018194695,22946.723629518394
+Physical_Joints_91,92.31230255844878,360501.34416862234,2389988000.861276,784584.2212070831,29445.920116415233
+Physical_Joints_92,9.38065031644393,42214.863524554225,282360889.6432014,182656.3170205413,11047.468598130115
+Physical_Joints_93,1.0116444095720014,4951.237175627168,32911087.365237728,36293.18498228062,4060.457802837258
+Physical_Joints_94,173.67063080394573,568103.4628859351,3123228612.606871,473976.74667406344,26956.699414972474
+Physical_Joints_95,150.22330366740408,897596.6995600996,6721986658.87414,1400592.9501730907,38037.81124345718
+Physical_Joints_96,246.12192270904976,771718.4524501207,4606052831.927676,704990.9552689521,26351.790039637148
+Physical_Joints_97,11.487183232277882,40914.648958093596,219455002.18260813,84550.96965097917,10970.080601044589
+Physical_Joints_98,55.300541251268086,200821.0586854057,1238091159.270928,413075.3572940273,23049.676456702444
+Physical_Joints_99,56.63099800657506,317796.9468719516,2395793393.7121863,404803.9232204464,30129.3856145916
+Physical_Joints_100,25.814516336773426,77483.25885808839,411257669.0561696,187649.85750439911,11918.290540434597
+Physical_Joints_101,9.473375898332595,30583.319739310722,175656352.29663444,111599.75355984707,8483.406532276053
+Physical_Joints_102,3745.3263223230215,21771519.774963833,144110375624.48065,2367988.138610713,278267.915511753
+Physical_Joints_103,1437.8704385749177,6022119.295546372,37170718209.24247,936013.3830280954,138591.1853154966
+Physical_Joints_104,775.2744039820675,2213458.2904457427,12567340738.831894,1023480.97214035,43317.443594247685
+Physical_Joints_105,0.11107977459653594,449.5517699725823,2730446.747742788,8560.895471593094,1153.692689861924
+Physical_Joints_106,0.03110536526920336,119.19893392966733,625120.3719188275,9943.47168954721,487.3006043911436
+Physical_Joints_107,5783.894857860659,18500833.453815497,108146791255.74548,3464317.297086309,168645.81464262347
+Physical_Joints_108,7.667836523391548,21002.3347781348,71875648.88063353,108719.36660823399,3972.763591859973
+Physical_Joints_109,125.20004402490443,349287.46557856066,1423185544.6580033,480639.9941828874,18516.730416291164
+Physical_Joints_110,733.789373139388,3493325.5860069566,22388598297.28892,3081735.4684196003,44312.41695238421
+Physical_Joints_111,5578.532792787411,30901940.146231376,219433433839.14774,4040042.6555824764,188845.02475342923
+Physical_Joints_112,2318.6550903422203,8940322.142431872,52377393376.44572,4641447.136817514,72145.29788309362
+Physical_Joints_113,4.244708410435815,12777.906056853404,53305461.62369566,93277.54041486567,4332.18799740303
+Physical_Joints_114,12.186777332852893,42427.154984091576,199493646.00801846,170571.86607929308,6557.849787881791
+Physical_Joints_115,5368.324531935811,17785025.55465029,103796935234.60713,3530758.947170264,162932.75417393286
+Physical_Joints_116,3709.154601380605,19686787.620628368,127210989131.43991,2026925.3247489997,261195.27494546294
+Physical_Joints_117,1261.666243491108,5239942.931062995,31469384410.470093,916555.8310889599,121687.03283706593
+Physical_Joints_118,410.4009423808375,1327163.7087996681,7409462829.051393,1507278.4892963984,25805.900378738108
+Physical_Joints_119,0.27127182591273524,807.0220220905582,3644631.340478487,19443.354160418952,875.0097731391984
+Physical_Joints_120,0.09072118968301511,377.97535733378277,1968299.725665602,11561.149584646826,761.833609396923
+Physical_Joints_121,9787.22263665488,31395608.655976824,152320063476.7619,3260558.9460177957,154052.58642170348
+Physical_Joints_122,40.495458201344476,138481.45594649285,645353339.9899485,247753.55372500553,9778.592990378005
+Physical_Joints_123,891.908703068562,2909918.9288940406,13642630077.504025,1139285.2530617306,46418.84270128537
+Physical_Joints_124,8409.262613828263,46254964.32874902,329735039313.588,3849225.583842652,217487.4956590232
+Physical_Joints_125,1388.7299666217218,6376453.421019094,39559184809.43792,1705371.8968072988,75656.44871728418
+Physical_Joints_126,1458.1834914833946,6472374.138230404,44886824332.34125,3919166.177479913,73604.50384861618
+Physical_Joints_127,19.599751389934543,65342.6857875762,294103638.0755696,154574.19371781347,6682.598151055474
+Physical_Joints_128,10.041963400942697,37313.22756719186,159195867.9089413,195716.11205052634,4508.859514973422
+Physical_Joints_129,3291.040748318402,11963192.459475545,62472974008.03502,3352769.0705929175,79901.83612285595
diff --git a/data/sac/sac_slidehard_checkpoints/best_model.zip b/data/sac/sac_slidehard_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..8c8d6b893c671fde959aaebfd0894b0b5578851d
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37e43939650e6c221875a34d60603b3cb101f14bf21e0e92ea9fb79f820b3cfc
+size 158099206
diff --git a/data/sac/sac_slidehard_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_slidehard_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e1cbbcdeab50c903bb4ccf5c8e0448ab09b1677
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bae55cf118e960585efd7c1a508dfec76dc0eef7a74655b4bd3d19d9ffa8474
+size 566135
diff --git a/data/sac/sac_slidehard_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_slidehard_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec199b7fc4b3307dbc11a0e3ad2235e30a992ff7
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f969f045658be842ab21f8904ba495f1e9dc4823ccebc9ad4fa09f03fa7314
+size 719738
diff --git a/data/sac/sac_slidehard_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_slidehard_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..439c9203d64ea80b9c5cfaedb67c908149773b3f
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ead338c444a701f910f1303d206c30aeca626d1ba1cde2d6ee3422a83433f5
+size 261619
diff --git a/data/sac/sac_slidehard_checkpoints/vec_normalize.pkl b/data/sac/sac_slidehard_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..96b1db118b2440b3941da932aa3b9477b7ccc0c0
--- /dev/null
+++ b/data/sac/sac_slidehard_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7040dd49195524ed287bd63aa3e899689ba9a6c734e76fa940e2915aba12f12e
+size 304543
diff --git a/data/sac/sac_slidehard_logs/SAC_1/events.out.tfevents.1778738364.discover-01.1253131.0 b/data/sac/sac_slidehard_logs/SAC_1/events.out.tfevents.1778738364.discover-01.1253131.0
new file mode 100644
index 0000000000000000000000000000000000000000..4437e2770aad058980301dd26380cf771151ddcd
--- /dev/null
+++ b/data/sac/sac_slidehard_logs/SAC_1/events.out.tfevents.1778738364.discover-01.1253131.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d112e975d4984d0ffc433b3d6db320f7ce6222709d352d9d0707862042810e
+size 19850680
diff --git a/data/sac/sac_slidehard_logs/eval_logs/evaluations.npz b/data/sac/sac_slidehard_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd83e10572519f217da49a2b8b5f34f5441b7382
--- /dev/null
+++ b/data/sac/sac_slidehard_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a34ebb97109dcb167b60cf3fe3fa316e2bd34e26c97f68faf34338589433c1
+size 53354
diff --git a/data/sac/sac_squat_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_squat_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e72347f0d5d5a2533ae18541fcc4ad97911087a3
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,4.160858,66227.45,1712494700.0,653132.7,5179.2593
+Muscle_Actions_1,4.7913847,34449.348,604488900.0,312809.6,3386.6611
+Muscle_Actions_2,4.8034515,37025.086,1028657100.0,719233.0,3013.9053
+Muscle_Actions_3,6.302227,25528.057,298842900.0,383837.03,2046.1113
+Muscle_Actions_4,3.0231068,14859.831,374484580.0,281915.6,2618.9624
+Muscle_Actions_5,3.1340947,34229.855,693070300.0,408000.88,2949.8508
+Muscle_Actions_6,11.471393,82698.45,779150300.0,442651.88,2909.0508
+Muscle_Actions_7,5.9986587,53788.21,1253462400.0,679820.7,3529.1125
+Muscle_Actions_8,2.8131666,31572.596,607912700.0,549743.7,2702.106
+Muscle_Actions_9,2.8518634,55588.254,1645748500.0,722840.3,4440.4287
+Muscle_Actions_10,1.3120484,15900.723,327471500.0,236297.02,2419.5017
+Muscle_Actions_11,3.9030805,38172.336,782199940.0,410772.22,3544.549
+Muscle_Actions_12,1.974344,21633.01,484514500.0,483018.53,2316.393
+Muscle_Actions_13,6.280201,51573.855,816919300.0,616604.94,3133.4695
+Muscle_Actions_14,1.9239357,10792.591,178573800.0,289585.84,1585.82
+Muscle_Actions_15,8.737923,175585.25,3195382300.0,952234.1,5760.8945
+Muscle_Actions_16,5.217297,49796.29,687582000.0,563901.2,2568.944
+Muscle_Actions_17,6.251385,70867.65,1193443300.0,626998.0,4186.838
+Muscle_Actions_18,1.895829,26747.95,540991040.0,369782.22,2878.7075
+Muscle_Actions_19,2.555339,41023.402,976690370.0,595171.0,3068.0352
+Muscle_Actions_20,2.3865216,29371.293,668504450.0,387900.34,3730.5522
+Muscle_Actions_21,2.563983,56882.812,1611200300.0,827749.9,3990.4133
+Muscle_Actions_22,1.1693833,28526.828,818512450.0,584980.9,2749.0354
+Muscle_Actions_23,15.907087,196089.45,2550635000.0,905306.1,4281.536
+Muscle_Actions_24,4.111639,38451.797,669448960.0,499163.03,3175.0967
+Muscle_Actions_25,4.411271,30803.16,461427230.0,373100.8,2762.688
+Muscle_Actions_26,4.421949,56424.395,1231668100.0,805030.44,3442.3523
+Muscle_Actions_27,4.831345,54561.066,1285524200.0,683482.7,3375.2651
+Muscle_Actions_28,1.9598525,19850.596,483012960.0,446385.25,2214.8325
+Muscle_Actions_29,2.1732419,17692.834,367145660.0,283408.53,2687.0198
+Muscle_Actions_30,5.2286005,87998.93,2067365100.0,954557.3,4341.893
+Muscle_Actions_31,3.548001,29920.83,538333400.0,467958.1,2216.8171
+Muscle_Actions_32,10.299607,97137.164,907897600.0,592263.0,3669.9546
+Muscle_Actions_33,7.5816526,94269.64,1753175200.0,1091521.5,4057.2964
+Muscle_Actions_34,4.8354163,54297.242,1538081900.0,659853.44,4277.6846
+Muscle_Actions_35,3.9560034,40118.543,818404800.0,690315.0,3077.0955
+Muscle_Actions_36,2.6173143,14504.01,368112400.0,413520.4,2292.0308
+Muscle_Actions_37,6.9281187,74637.93,1455205000.0,768548.0,4027.928
+Muscle_Actions_38,5.832056,93390.17,2174553600.0,833420.7,4690.4307
+Muscle_Actions_39,8.166433,63657.836,798872500.0,613478.8,3067.5425
+Muscle_Actions_40,6.7182426,82504.72,1372735700.0,565983.94,4232.611
+Muscle_Actions_41,3.8496275,73159.41,1586364500.0,685595.4,4433.412
+Muscle_Actions_42,2.1594396,27741.195,634416260.0,540246.9,2588.1326
+Muscle_Actions_43,4.6687193,41169.438,504906000.0,487339.25,1992.15
+Muscle_Actions_44,1.5267829,22001.94,500289630.0,482267.8,1954.9856
+Muscle_Actions_45,9.201902,167902.38,3723410000.0,1345889.8,5831.7666
+Muscle_Actions_46,4.6133204,55924.734,1274564900.0,691058.5,4036.9597
+Muscle_Actions_47,2.5457447,32631.463,770655600.0,578510.9,3268.4524
+Muscle_Actions_48,5.2248783,101094.84,2754094600.0,898809.6,4798.533
+Muscle_Actions_49,2.3701408,14319.122,231729010.0,353456.44,1631.683
+Muscle_Actions_50,5.1795845,46226.09,983192400.0,633656.9,3363.6013
+Muscle_Actions_51,6.842265,53029.754,967879740.0,590161.4,3583.15
+Muscle_Actions_52,5.5770583,93256.484,2536534300.0,1064278.9,4607.4116
+Muscle_Actions_53,6.6480026,88694.7,2267449900.0,736687.3,5136.1704
+Muscle_Actions_54,4.012536,46967.402,1104326700.0,662781.44,3866.3247
+Muscle_Actions_55,14.653471,176242.52,2014086900.0,1188094.9,4165.071
+Muscle_Actions_56,8.606385,165823.17,4719701500.0,1576256.8,6463.0054
+Muscle_Actions_57,2.169325,28632.01,700772100.0,560330.44,2795.91
+Muscle_Actions_58,4.6832438,54700.06,1112301200.0,664889.1,3685.11
+Muscle_Actions_59,1.8280969,36455.094,1063410000.0,577780.4,3755.8625
+Muscle_Actions_60,9.392562,110494.77,1439087100.0,869662.3,3902.728
+Muscle_Actions_61,2.9816744,30834.314,388597400.0,285063.56,2335.7354
+Muscle_Actions_62,9.413431,136680.47,3359469300.0,1372306.9,4750.339
+Muscle_Actions_63,3.3785934,18212.848,317161500.0,359035.84,2171.1016
+Muscle_Actions_64,7.1790743,58587.805,932733440.0,690225.1,3495.0679
+Muscle_Actions_65,2.2941406,19855.994,506596500.0,477373.0,2262.49
+Muscle_Actions_66,5.464407,59460.96,1202720600.0,735133.0,3330.5754
+Muscle_Actions_67,6.391943,41968.42,743789600.0,563556.3,3069.926
+Muscle_Actions_68,2.2001565,12284.194,181225200.0,175605.72,1845.0963
+Muscle_Actions_69,2.8005548,33037.215,784889400.0,624988.06,3110.3552
+Muscle_Actions_70,7.847044,121545.914,1758558300.0,1015424.25,4552.731
+Muscle_Actions_71,11.167479,97742.52,1198323500.0,732713.94,3026.811
+Muscle_Actions_72,3.2586305,55713.715,1358436000.0,642728.25,4050.3489
+Muscle_Actions_73,3.94374,38203.637,752447700.0,664991.5,2607.4187
+Muscle_Actions_74,9.931807,110762.24,851617860.0,584318.94,3095.9968
+Muscle_Actions_75,1.9556389,18706.895,434475400.0,418247.34,2127.043
+Muscle_Actions_76,6.186435,76335.52,1833212400.0,893950.5,4599.9746
+Muscle_Actions_77,6.6940107,63328.6,617714100.0,488997.1,2385.3345
+Muscle_Actions_78,5.783023,70045.56,951728600.0,849735.25,2390.158
+Muscle_Actions_79,2.556663,29183.156,529336930.0,351376.06,2434.7827
+Muscle_Actions_80,3.2828834,23707.531,470506850.0,341314.62,2756.9138
+Muscle_Actions_81,10.270902,80066.66,811589000.0,523152.34,3243.0654
+Muscle_Actions_82,1.2142545,20303.332,458371680.0,440867.53,2474.388
+Muscle_Actions_83,3.6318026,55219.727,1637098800.0,904829.5,3515.4377
+Muscle_Actions_84,4.0980005,34849.36,825941500.0,642848.75,3469.5444
+Muscle_Actions_85,5.5568595,95840.19,2146300000.0,1104218.6,4241.878
+Muscle_Actions_86,5.1470246,98468.625,2419537400.0,1029538.25,4002.1282
+Muscle_Actions_87,2.2197883,33175.258,896064260.0,686836.75,2859.6472
+Muscle_Actions_88,3.4951878,26798.756,347924670.0,321328.53,2432.9285
+Muscle_Actions_89,5.978342,81218.555,2025493500.0,742189.25,4321.766
+Muscle_Actions_90,5.3375483,51639.215,1266643200.0,616422.6,3538.8918
+Muscle_Actions_91,2.116907,37874.81,1112541800.0,528635.25,3372.5078
+Muscle_Actions_92,3.6043801,72843.34,2105936600.0,949476.6,5098.896
+Muscle_Actions_93,3.7137015,57445.844,1352795600.0,738992.2,3626.466
+Muscle_Actions_94,7.995012,68616.03,1107228900.0,639420.4,3162.6162
+Muscle_Actions_95,2.4300196,28807.072,876887040.0,618396.2,2588.7615
+Muscle_Actions_96,4.110516,36372.93,587037950.0,461714.38,2711.8909
+Muscle_Actions_97,6.0588436,51508.527,1004473500.0,654873.25,3387.059
+Muscle_Actions_98,3.6443696,65648.51,1704022800.0,779815.44,4859.9087
+Muscle_Actions_99,0.4989096,3095.0088,53896676.0,117603.305,1036.7656
+Muscle_Actions_100,5.328263,55788.055,1458910600.0,592049.5,4709.549
+Muscle_Actions_101,2.7069516,45231.773,975071800.0,560141.94,3543.3484
+Muscle_Actions_102,1.595136,14843.95,311036350.0,256221.17,2239.2769
+Muscle_Actions_103,1.3202633,11070.696,244715180.0,227361.44,1890.5704
+Muscle_Actions_104,6.1451125,99107.97,2202001200.0,774967.06,5215.826
+Muscle_Actions_105,2.321653,16647.152,277557900.0,291164.16,1848.1211
+Muscle_Actions_106,2.1574006,20220.61,307122880.0,267686.53,2265.152
+Muscle_Actions_107,8.187266,98074.36,1423638300.0,820223.1,3876.5664
+Muscle_Actions_108,1.8533107,19474.428,388448200.0,313531.03,2349.3809
+Muscle_Actions_109,1.8226643,15183.672,390869800.0,265193.8,2824.7202
+Muscle_Actions_110,2.1546686,19144.781,257387820.0,303857.28,2126.2112
+Muscle_Actions_111,4.196851,40973.387,710378800.0,418473.06,3354.4207
+Muscle_Actions_112,2.1814709,21096.13,502037800.0,317322.5,2981.9036
+Muscle_Actions_113,4.698349,90479.14,1807808900.0,875148.2,4115.981
+Muscle_Actions_114,7.4993587,102444.445,2692877800.0,927160.5,5614.387
+Muscle_Actions_115,5.2005644,81462.79,1862197600.0,1096418.6,3521.9377
+Muscle_Actions_116,3.3915274,21548.332,253072340.0,347977.75,1817.8191
+Muscle_Actions_117,2.7944427,26348.553,559328830.0,572652.75,2209.245
+Muscle_Actions_118,3.629037,54197.64,1524209000.0,690638.0,4242.7236
+Muscle_Actions_119,11.687844,106149.56,1407670000.0,667530.75,4077.0667
+Muscle_Actions_120,9.317541,85092.36,1838802000.0,1006003.4,3964.3743
+Muscle_Actions_121,2.3852875,57779.38,1768986100.0,844034.75,4074.8728
+Muscle_Actions_122,5.091759,67203.17,1216590600.0,899194.8,3052.147
+Muscle_Actions_123,12.009258,104338.43,1304832400.0,695114.94,3643.129
+Muscle_Actions_124,1.1596406,15745.384,417722880.0,301413.06,2650.5596
+Muscle_Actions_125,4.309836,52253.098,1339110300.0,731490.4,3312.478
+Muscle_Actions_126,1.9413154,28131.955,916417500.0,582001.3,3212.0166
+Muscle_Actions_127,6.7554426,67045.98,1218730600.0,647024.2,3383.02
+Muscle_Actions_128,5.1029696,82348.586,1786632100.0,735358.5,4144.7524
+Muscle_Actions_129,6.552601,60850.992,1182038700.0,816523.94,3042.7024
+Muscle_Actions_130,2.9702463,64337.285,2122807700.0,941490.44,4381.2173
+Muscle_Actions_131,3.8036745,21554.61,315575170.0,349285.3,2101.6506
+Muscle_Actions_132,7.686263,84049.055,1289018900.0,899496.44,3494.5437
+Muscle_Actions_133,8.125604,97631.77,1801250600.0,855969.94,3901.8008
+Muscle_Actions_134,3.8861637,42678.516,798279600.0,420704.78,3443.6946
+Muscle_Actions_135,7.134806,68211.484,1171979800.0,482190.12,4623.982
+Muscle_Actions_136,1.5646087,15069.751,293158500.0,272613.75,2204.8447
+Muscle_Actions_137,5.324598,78169.03,1808542300.0,915410.44,4714.002
+Muscle_Actions_138,4.2305374,66805.47,1580478800.0,777068.6,4204.893
+Muscle_Actions_139,2.9551008,24407.84,691314700.0,509791.25,2778.6587
+Muscle_Actions_140,2.4640684,29743.904,726833900.0,614481.7,2860.4517
+Muscle_Actions_141,8.842634,61496.242,948959100.0,639712.06,3579.7063
+Muscle_Actions_142,1.5804075,29258.225,873564100.0,514980.75,3606.2192
+Muscle_Actions_143,7.294966,44058.957,634612740.0,616937.4,2416.151
+Muscle_Actions_144,6.4501452,69235.625,1521578100.0,861165.6,4457.6025
+Muscle_Actions_145,6.2948313,71892.97,1585961500.0,825798.5,3988.058
+Muscle_Actions_146,3.992825,47485.54,1097762600.0,507000.62,3343.7014
+Muscle_Actions_147,4.299531,47693.28,776869400.0,630694.1,2792.6016
+Muscle_Actions_148,4.1696486,66027.13,1201822600.0,671455.0,3436.41
+Muscle_Actions_149,4.4061856,38676.156,745264060.0,486502.22,3300.0312
+Muscle_Actions_150,2.3754141,32064.88,949487360.0,489214.9,3395.6733
+Muscle_Actions_151,6.5355096,69560.49,1270438800.0,625761.6,3783.1687
+Muscle_Actions_152,2.612783,54555.285,1482847000.0,964239.56,3400.6497
+Muscle_Actions_153,2.539411,45916.426,1022909300.0,511081.22,3655.1047
+Muscle_Actions_154,5.4625893,91914.5,2732025300.0,1027031.8,4763.49
+Muscle_Actions_155,12.951896,114060.68,1892142200.0,772138.5,4236.2544
+Muscle_Actions_156,6.2228003,51579.44,451482530.0,435445.44,2495.6772
+Muscle_Actions_157,6.0542235,44607.832,787619650.0,620594.56,3269.6328
+Muscle_Actions_158,2.1504886,32137.59,966104100.0,509786.5,3470.6382
+Muscle_Actions_159,3.9558406,27424.807,492259800.0,347234.44,2775.8093
+Muscle_Actions_160,3.3054614,42999.703,828561800.0,786504.94,2471.3394
+Muscle_Actions_161,2.3562381,28406.89,581361500.0,435109.25,2640.7278
+Muscle_Actions_162,7.3218913,84734.52,1804119300.0,661905.8,4303.0454
+Muscle_Actions_163,8.1761675,133256.84,3236717000.0,1050811.1,5686.7603
+Muscle_Actions_164,2.1340296,28201.535,443920400.0,339039.7,2344.1628
+Muscle_Actions_165,0.583545,6612.042,155384220.0,186530.89,1482.392
+Muscle_Actions_166,5.2107162,66664.32,1783836800.0,708993.75,4247.62
+Muscle_Actions_167,8.11507,148670.86,4210490000.0,1318454.1,5785.32
+Muscle_Actions_168,3.6705887,41956.09,877431700.0,391055.1,3804.214
+Muscle_Actions_169,3.7719698,37937.312,1004429300.0,573190.8,3789.561
+Muscle_Actions_170,6.402101,43618.42,540673660.0,529298.94,2674.75
+Muscle_Actions_171,5.1101065,79745.94,1467699800.0,682520.0,4550.8237
+Muscle_Actions_172,7.6557565,89486.79,2029065700.0,953070.6,4594.202
+Muscle_Actions_173,4.856959,29406.674,467167070.0,406523.0,2358.1487
+Muscle_Actions_174,7.724164,77971.38,914878400.0,530111.06,3220.2827
+Muscle_Actions_175,9.001181,89060.34,1645152400.0,510434.75,4882.43
+Muscle_Actions_176,7.467331,56965.13,670767900.0,676630.4,2389.397
+Muscle_Actions_177,7.014719,74440.94,1712737500.0,638665.1,5170.478
+Muscle_Actions_178,5.6981773,25633.535,373828740.0,405737.4,2366.3577
+Muscle_Actions_179,1.442291,24572.83,575738800.0,544934.75,2732.2336
+Muscle_Actions_180,2.3766487,14115.278,267470830.0,299023.22,2008.9879
+Muscle_Actions_181,2.6439962,32752.639,532569540.0,431841.44,2551.9116
+Muscle_Actions_182,12.1825075,127227.945,2051239300.0,1144758.0,3872.5999
+Muscle_Actions_183,4.8812485,43438.22,777237600.0,672612.25,2908.3887
+Muscle_Actions_184,10.4269905,99253.57,1247998300.0,641556.5,3793.9749
+Muscle_Actions_185,4.2599807,27265.043,243944260.0,304494.03,1598.26
+Muscle_Actions_186,4.023779,50564.582,1137337300.0,647387.3,3132.683
+Muscle_Actions_187,5.4761357,64008.758,773043840.0,427131.53,3198.6985
+Muscle_Actions_188,3.463511,26238.293,361808160.0,337373.56,2237.0486
+Muscle_Actions_189,7.083598,66652.18,1021347840.0,783848.9,3145.7463
+Muscle_Actions_190,0.96983194,7335.453,176546540.0,179578.31,2001.8805
+Muscle_Actions_191,4.7094107,82292.11,1406764500.0,736599.06,3930.8281
+Muscle_Actions_192,2.3536906,44162.504,1174348900.0,550143.9,3968.836
+Muscle_Actions_193,6.7409787,57192.75,656336900.0,396935.0,3025.2847
+Muscle_Actions_194,3.073483,36819.23,1102177400.0,582196.4,3521.8364
+Muscle_Actions_195,3.6831408,39237.965,702362940.0,642266.75,2527.841
+Muscle_Actions_196,5.8395243,19316.922,397730940.0,354708.72,2448.6892
+Muscle_Actions_197,3.1853123,15465.71,206583840.0,228538.94,1998.985
+Muscle_Actions_198,1.9887273,23230.613,539551360.0,454526.72,2597.2415
+Muscle_Actions_199,4.601916,48116.145,682810600.0,388535.16,3156.475
+Muscle_Actions_200,5.1591835,58989.125,1012372000.0,524880.56,3475.1567
+Muscle_Actions_201,5.0902786,59639.38,818590700.0,547023.3,2842.4277
+Muscle_Actions_202,5.2386003,69213.09,1428724400.0,913053.25,3725.28
+Muscle_Actions_203,3.5812595,56869.35,1222393900.0,612849.3,3662.9702
+Muscle_Actions_204,2.363409,10580.138,237585550.0,264171.44,1905.1753
+Muscle_Actions_205,3.7920587,27650.025,550266100.0,521837.0,2509.8782
+Muscle_Actions_206,5.0573387,58999.99,872316350.0,749033.3,2824.135
+Muscle_Actions_207,2.957283,51229.67,1209709000.0,724205.75,3744.46
+Muscle_Actions_208,5.4896574,56054.832,1101624300.0,655774.7,3392.78
+Muscle_Actions_209,1.7964547,25920.29,615566700.0,500577.28,2783.0383
+Muscle_Actions_210,5.853601,36784.164,678242600.0,501024.2,3533.9902
+Muscle_Actions_211,8.201109,64005.664,1008303500.0,531645.5,3586.0647
+Muscle_Actions_212,5.4115744,71688.23,1675729700.0,618736.25,4350.7466
+Muscle_Actions_213,3.9698212,65868.164,1853602200.0,663831.1,5425.429
+Muscle_Actions_214,10.461358,135709.77,3238832400.0,1024261.7,5777.746
+Muscle_Actions_215,4.5805473,53356.16,1006170800.0,607597.3,3793.7017
+Muscle_Actions_216,1.0191462,17784.52,377218500.0,266586.2,2523.2903
+Muscle_Actions_217,3.4619796,46680.773,1003209600.0,767785.06,3115.888
+Muscle_Actions_218,5.6190047,38142.16,667243970.0,635799.6,2530.9277
+Muscle_Actions_219,6.3586264,92200.94,1734846500.0,756574.4,4832.522
+Muscle_Actions_220,2.9863133,44676.676,1264866600.0,660948.5,3409.2244
+Muscle_Actions_221,8.507006,91322.09,2176105500.0,1161664.8,3759.102
+Muscle_Actions_222,5.825519,53911.434,1355039100.0,902985.7,3372.4026
+Muscle_Actions_223,1.5549334,21334.365,581526600.0,524931.94,2827.101
+Muscle_Actions_224,7.7585874,55701.45,1133455900.0,957306.25,2353.8728
+Muscle_Actions_225,0.61102057,5414.024,102406770.0,220977.48,1132.46
+Muscle_Actions_226,0.6495706,6662.477,134207510.0,182700.45,1403.5054
+Muscle_Actions_227,11.363533,102700.7,1391464400.0,708948.1,3478.1091
+Muscle_Actions_228,7.285074,54582.53,668006900.0,437757.56,3264.33
+Muscle_Actions_229,3.170456,31685.303,633832600.0,397460.03,3595.0735
+Muscle_Actions_230,5.348204,74465.72,1301003300.0,681654.4,3495.3765
+Muscle_Actions_231,7.1394687,61779.855,792865900.0,440028.9,3436.2725
+Muscle_Actions_232,2.3957086,14915.979,247030620.0,328223.47,1849.5177
+Muscle_Actions_233,2.4344378,36311.086,720836400.0,515566.53,3123.1226
+Muscle_Actions_234,15.066247,162143.11,2046213400.0,1080758.2,4809.1167
+Muscle_Actions_235,3.3805287,42252.25,971125000.0,673030.0,3049.8403
+Muscle_Actions_236,6.220358,29824.627,522074720.0,462197.97,2447.773
+Muscle_Actions_237,12.402188,231056.88,5939591000.0,1785932.2,6961.674
+Muscle_Actions_238,6.0568013,51134.09,1034074600.0,518811.53,3630.6687
+Muscle_Actions_239,0.2618212,3148.7217,68284390.0,123834.61,1041.4888
+Muscle_Actions_240,3.7312877,14727.738,196595650.0,286947.97,1778.7145
+Muscle_Actions_241,0.0767481,1300.8488,34503164.0,85931.6,777.94
+Muscle_Actions_242,3.664336,39481.555,810546800.0,474962.4,3227.2314
+Muscle_Actions_243,0.008030675,94.26233,1578556.4,18704.176,138.41284
+Muscle_Actions_244,4.261025,46490.367,785248400.0,528417.94,2936.0112
+Muscle_Actions_245,1.7010401,17545.932,363709220.0,311290.5,2395.7898
+Muscle_Actions_246,3.0336232,41309.227,1134944800.0,698048.9,3773.8333
+Muscle_Actions_247,3.1372845,64698.336,1079509200.0,876906.2,2696.8271
+Muscle_Actions_248,10.942788,128240.17,2681260300.0,1329387.0,4310.425
+Muscle_Actions_249,4.7047725,73049.75,1852177800.0,961677.0,4056.2349
+Muscle_Actions_250,5.806424,47101.133,900422400.0,591397.06,2785.777
+Muscle_Actions_251,4.374723,23214.053,508188450.0,360812.25,2951.4636
+Muscle_Actions_252,5.4389052,75167.27,2059695000.0,1129114.2,3978.4626
+Muscle_Actions_253,3.8598588,25029.38,451811800.0,390409.28,2675.7002
+Muscle_Actions_254,6.181737,73494.445,1533603200.0,700944.44,3726.8315
+Muscle_Actions_255,8.010822,124056.42,2816293400.0,1225689.9,4527.347
+Muscle_Actions_256,7.949726,79179.664,1511514900.0,612904.8,5235.1973
+Muscle_Actions_257,5.377653,55831.457,554791740.0,418563.84,2512.6948
+Muscle_Actions_258,9.95939,86327.89,1255965800.0,692784.75,3713.572
+Muscle_Actions_259,4.866239,34753.51,489938340.0,417843.53,2305.1892
+Muscle_Actions_260,2.9142587,42973.19,1310149900.0,597509.2,4355.968
+Muscle_Actions_261,10.8246765,131181.86,2749559600.0,981562.06,5540.7266
+Muscle_Actions_262,7.275035,49702.42,806479700.0,512889.8,2892.9312
+Muscle_Actions_263,8.107737,78389.016,1726250200.0,1026129.0,4003.6572
+Muscle_Actions_264,13.511172,69613.8,504251100.0,466839.56,1986.5657
+Muscle_Actions_265,4.0039697e-05,0.1164816,2482.7532,840.78314,6.104326
+Muscle_Actions_266,0.17500581,2350.9043,46639028.0,98120.09,925.8069
+Muscle_Actions_267,14.034598,185760.14,1584870300.0,1175874.1,2107.6882
+Muscle_Actions_268,1.1654845,9742.651,150656660.0,221597.9,1530.4552
+Muscle_Actions_269,10.8836155,88562.6,2269088000.0,955003.94,4981.238
+Muscle_Actions_270,20.130852,220863.8,3842763800.0,1445389.0,5694.3306
+Muscle_Actions_271,6.2834654,83240.71,1948930200.0,889183.5,5176.9
+Muscle_Actions_272,3.8102696,38202.914,844361100.0,636443.1,3091.1104
+Muscle_Actions_273,2.8456464,22921.7,488816420.0,516858.88,2359.5735
+Muscle_Actions_274,7.744547,126719.6,3322343200.0,1295576.4,5159.1704
+Muscle_Actions_275,1.219255,11492.428,223236240.0,202877.28,2065.8474
+Muscle_Actions_276,9.393228,112576.77,2347412500.0,781016.7,4734.5415
+Muscle_Actions_277,11.446038,54078.598,876616960.0,403132.38,3653.8848
+Muscle_Actions_278,5.160573,43534.957,914344400.0,679072.9,3228.2065
+Muscle_Actions_279,1.0715367,14969.263,308206050.0,285778.28,2018.5276
+Muscle_Actions_280,10.911376,135975.22,1820513900.0,602519.8,4544.1543
+Muscle_Actions_281,0.26853076,2682.9219,55216564.0,111564.81,978.58264
+Muscle_Actions_282,10.272989,95290.03,1446715300.0,681036.3,4589.0054
+Muscle_Actions_283,0.026891837,300.83643,5902519.0,35005.094,339.546
+Muscle_Actions_284,24.11373,279737.84,2846421500.0,1252292.8,4828.4644
+Muscle_Actions_285,2.5641634,41134.09,1108520800.0,579430.0,4019.5112
+Muscle_Actions_286,2.5261436,15353.975,361792700.0,319848.2,2511.8699
+Muscle_Actions_287,6.6818385,82412.01,1353638900.0,810177.75,3771.2234
+Muscle_Actions_288,9.380816,160310.73,2528056800.0,975858.7,5281.759
+Muscle_Actions_289,6.1718326,87288.3,1595409700.0,788624.44,4388.712
+Muscle_Actions_290,0.71861666,8811.451,260634000.0,284698.38,1998.6969
+Muscle_Actions_291,6.6061506,79929.73,1544305000.0,605376.1,4714.889
+Muscle_Actions_292,5.3681755,108839.62,2243075600.0,1029260.6,4456.6753
+Muscle_Actions_293,6.3012514,69281.27,1318984600.0,531739.6,4426.9785
+Muscle_Actions_294,4.302791,41976.605,768426750.0,519054.25,3359.885
+Muscle_Actions_295,7.0805697,64147.23,1184586100.0,716383.56,3426.8687
+Muscle_Actions_296,1.6858573,24154.045,668282100.0,513325.03,2913.6934
+Muscle_Actions_297,3.2466352,39546.047,997349800.0,604519.4,3959.6218
+Muscle_Actions_298,2.869621,26880.475,564350140.0,530551.56,2362.1538
+Muscle_Actions_299,15.044791,137631.86,1599261200.0,723900.0,3770.7078
+Muscle_Actions_300,2.2550387,36760.004,744256500.0,490180.3,3162.17
+Muscle_Actions_301,3.0202026,14908.725,305866460.0,347163.1,2122.4275
+Muscle_Actions_302,7.6496825,137519.97,3911673000.0,1385099.6,4752.4834
+Muscle_Actions_303,5.139589,47216.562,1154475900.0,630811.3,3137.9624
+Muscle_Actions_304,3.5959525,30236.287,562320400.0,466033.94,2652.0222
+Muscle_Actions_305,7.301266e-05,0.4446279,5816.846,1686.2155,8.920997
+Muscle_Actions_306,8.093164e-05,0.43500015,6001.517,1183.033,10.103387
+Muscle_Actions_307,2.318747,19007.344,171769980.0,410911.8,566.76196
+Muscle_Actions_308,3.6735964,52898.36,986160400.0,689173.7,2613.4548
+Muscle_Actions_309,5.2864113,89514.45,1917847600.0,1031132.3,4290.177
+Muscle_Actions_310,17.220995,149571.45,1223876400.0,880205.4,3740.6536
+Muscle_Actions_311,0.73007536,8563.084,250744300.0,190499.66,2204.247
+Muscle_Actions_312,0.03921786,391.1679,7232076.0,51463.78,311.3349
+Muscle_Actions_313,6.6956215,107254.664,2209875000.0,899852.06,4307.737
+Muscle_Actions_314,0.46126586,3716.3088,69664370.0,147358.3,1051.6338
+Muscle_Actions_315,2.7108502,36296.062,1023810300.0,473787.12,3809.1846
+Muscle_Actions_316,1.9322009,37370.414,1031943100.0,711835.75,2268.0579
+Muscle_Actions_317,1.3907173,11744.979,347093340.0,269200.56,2595.6396
+Muscle_Actions_318,10.742932,47918.91,739780900.0,538472.56,3116.7744
+Muscle_Actions_319,8.394851,46844.74,661803600.0,680259.8,2536.1555
+Muscle_Actions_320,2.7558272,33378.406,1101297700.0,569905.2,3606.3945
+Muscle_Actions_321,8.863845,33672.51,465209600.0,359179.12,2674.565
+Muscle_Actions_322,0.13322093,2280.7017,58033804.0,116642.53,847.37445
+Muscle_Actions_323,1.0091496,8736.946,253173440.0,242129.8,1953.954
+Muscle_Actions_324,0.021470655,413.81747,10618821.0,58869.125,370.63562
+Muscle_Actions_325,0.02251979,341.20786,7003330.5,45791.688,330.5925
+Muscle_Actions_326,2.9149966,25849.701,654577660.0,482913.06,2891.3928
+Muscle_Actions_327,0.01583844,308.42877,7467397.5,49728.215,302.252
+Muscle_Actions_328,0.06822569,1309.2836,36249596.0,125765.2,551.9629
+Muscle_Actions_329,0.00905986,112.06359,2185519.2,23656.666,194.206
+Muscle_Actions_330,1.800616,18003.453,355944000.0,383064.38,2403.184
+Muscle_Actions_331,11.350549,119967.59,2756331500.0,1449541.6,3732.6748
+Muscle_Actions_332,2.4814533e-05,0.15054855,1881.8053,850.5583,5.441728
+Muscle_Actions_333,0.0017110977,25.047316,388663.66,15786.647,62.88254
+Muscle_Actions_334,4.444745,76812.65,2143460400.0,751793.4,4342.7554
+Muscle_Actions_335,0.3257651,6626.6353,113715980.0,283617.62,700.7227
+Muscle_Actions_336,0.058997843,221.76524,3944739.5,29179.453,288.59592
+Muscle_Actions_337,0.3416166,2053.5957,45319880.0,76230.17,1026.3484
+Muscle_Actions_338,0.0007883316,4.668629,64315.7,3847.2415,34.812744
+Muscle_Actions_339,4.677671,17021.91,328476640.0,402736.9,1782.1759
+Muscle_Actions_340,1.9394984,22319.906,511616320.0,519569.56,2412.6025
+Muscle_Actions_341,7.502144,87416.04,1947117600.0,1076083.1,3815.3098
+Muscle_Actions_342,5.4457197,45523.867,990316540.0,648587.25,3092.5005
+Muscle_Actions_343,5.43104,44488.504,697706600.0,653073.94,2447.297
+Muscle_Actions_344,6.397336,52542.195,692816500.0,501899.6,2686.8445
+Muscle_Actions_345,9.207933,49645.207,735493500.0,448856.0,3059.9504
+Muscle_Actions_346,4.3985467,41333.414,1275862400.0,464257.66,4261.736
+Muscle_Actions_347,0.6060558,7963.073,190239840.0,183571.05,1794.5725
+Muscle_Actions_348,1.5184628,14407.456,411940450.0,396494.62,2269.4204
+Muscle_Actions_349,5.0441556,44079.934,873158800.0,537540.2,3398.8958
+Muscle_Actions_350,5.377935,75079.836,1570023200.0,733689.06,4339.723
+Muscle_Actions_351,2.9596884,23763.531,495317100.0,395689.38,2647.5117
+Muscle_Actions_352,0.9178303,5854.0747,123429550.0,205971.84,1495.4862
+Muscle_Actions_353,3.6533217,53706.1,1317065000.0,714870.94,4010.8115
+Muscle_Actions_354,0.43373278,4853.5645,127499304.0,179438.06,1500.3433
+Muscle_Actions_355,8.895822,55186.027,1032376500.0,707390.44,3173.3545
+Muscle_Actions_356,3.6125336,50913.42,1051924600.0,614786.5,3456.5288
+Muscle_Actions_357,5.0671525,52144.105,1026576830.0,701068.06,3756.8477
+Muscle_Actions_358,1.0379313,10370.614,222208160.0,226943.61,1878.494
+Muscle_Actions_359,5.784139,100101.92,1683407600.0,1080936.9,3078.1592
+Muscle_Actions_360,12.67078,71500.266,584824600.0,367419.97,3355.7664
+Muscle_Actions_361,7.769816,57186.477,961758400.0,555232.4,3109.7751
+Muscle_Actions_362,0.073083945,927.94965,24121954.0,93325.26,593.6664
+Muscle_Actions_363,0.40386468,3651.9272,86392060.0,125757.16,1231.9315
+Muscle_Actions_364,5.445907,45610.613,705122700.0,494598.88,2586.0457
+Muscle_Actions_365,9.040137,58188.086,811232960.0,420176.97,3538.597
+Muscle_Actions_366,2.33671,39100.793,992048500.0,433413.28,4136.891
+Muscle_Actions_367,0.98183763,15138.425,387727300.0,306115.62,2477.3027
+Muscle_Actions_368,1.3855143,12829.666,235064020.0,327282.2,1763.8674
+Muscle_Actions_369,2.7828772,18504.31,244612770.0,374469.28,1671.6881
+Muscle_Actions_370,2.1971197,24067.977,469807330.0,367838.16,2505.7227
+Muscle_Actions_371,5.9699183,49264.58,915962500.0,595361.75,3737.2407
+Muscle_Actions_372,5.4920354,48143.09,716070300.0,401809.8,3383.6885
+Muscle_Actions_373,6.1337857,34900.492,874451700.0,578133.4,3133.5676
+Muscle_Actions_374,1.3886435,19065.746,499348400.0,385362.38,2343.3787
+Muscle_Actions_375,6.5906057,94718.09,1894193700.0,884501.25,4157.3096
+Muscle_Actions_376,2.4536092,39967.68,1153622900.0,522157.06,4370.53
+Muscle_Actions_377,1.7685324,26984.457,729540030.0,549720.2,2977.689
+Muscle_Actions_378,2.389189,23040.857,469836450.0,447312.47,1860.3281
+Muscle_Actions_379,0.015613136,184.14822,3856082.0,35668.375,251.36588
+Muscle_Actions_380,0.014754791,151.35841,3397975.2,30190.885,259.21188
+Muscle_Actions_381,0.050780557,464.53964,8764452.0,42222.86,384.2048
+Muscle_Actions_382,0.08238,725.27374,13226360.0,46118.977,466.9311
+Muscle_Actions_383,1.8596249,26596.393,678276300.0,457861.3,2982.0503
+Muscle_Actions_384,5.614331,93366.98,2177674200.0,766124.25,5319.8315
+Muscle_Actions_385,2.7148297,26290.486,745581760.0,552861.5,2831.1277
+Muscle_Actions_386,1.0453109,6888.362,202453890.0,192763.45,2162.712
+Muscle_Actions_387,0.16994913,667.2295,14211482.0,57982.207,615.9745
+Muscle_Actions_388,3.0924149,6007.0044,101356470.0,184944.92,1435.3103
+Muscle_Actions_389,5.03999,36259.63,840867140.0,695976.44,2079.6458
+Muscle_Actions_390,5.904505,29654.01,436820060.0,405300.7,1967.8785
+Muscle_Actions_391,0.44750336,1617.9198,27033950.0,82733.16,750.7277
+Muscle_Actions_392,0.9445042,12580.763,363439600.0,257711.47,2577.2861
+Muscle_Actions_393,8.36987,39154.77,853286660.0,638430.7,2686.7222
+Muscle_Actions_394,1.9613849,23454.373,455293540.0,460377.8,2033.0386
+Muscle_Actions_395,2.7437515,12099.043,174585200.0,169161.02,1750.9386
+Muscle_Actions_396,6.1678443,36596.816,393872670.0,312813.28,2275.697
+Muscle_Actions_397,3.8374822,55013.188,901654660.0,645162.25,3535.0405
+Muscle_Actions_398,2.8033698,38270.582,1004970100.0,453479.22,4064.885
+Muscle_Actions_399,22.785254,151604.4,1217928200.0,983398.2,3045.961
+Muscle_Actions_400,0.25019175,1318.4006,20313982.0,55512.668,732.62415
+Muscle_Actions_401,5.430838,35948.062,455422430.0,408338.0,2042.7234
+Muscle_Actions_402,4.5598545,32100.377,632465000.0,690322.5,2058.499
+Muscle_Actions_403,0.03646169,270.7474,5653030.0,46748.758,325.72714
+Muscle_Actions_404,2.8296473,16517.186,300775940.0,408049.22,1854.8914
+Muscle_Actions_405,2.5081384,20660.02,365231040.0,305548.6,2525.5742
+Muscle_Actions_406,0.88762677,7096.019,131657860.0,230101.34,1300.6005
+Muscle_Actions_407,5.4457173,36734.895,595078140.0,614540.3,2238.1191
+Muscle_Actions_408,9.534327,119090.664,2153201000.0,1138275.1,3646.923
+Muscle_Actions_409,9.962227,57267.44,1022405440.0,752773.06,2998.923
+Muscle_Actions_410,5.358996,33448.387,905254460.0,656323.4,2629.4365
+Muscle_Actions_411,2.8795917,39865.516,1122970600.0,494240.53,4160.797
+Muscle_Actions_412,2.6482153,25621.19,634312100.0,466290.66,2967.0115
+Muscle_Actions_413,13.927012,134487.17,1564827100.0,1015978.7,3581.7754
+Muscle_Actions_414,1.4713361,10123.933,188346560.0,228660.05,2071.0874
+Muscle_Actions_415,1.54196,8574.43,198074130.0,210121.52,2074.2915
diff --git a/data/sac/sac_squat_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_squat_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42d85d947c1277206e42b3f96878c5bb0d7b716b
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,1.004135444197495,5606.811834982902,48332068.663515784,141667.1631538896,601.4007470642625
+Physical_Joints_1,0.0301652914715138,216.37965887617278,2971905.1870005676,27931.603125747875,233.57180839137465
+Physical_Joints_2,2.249236861510235,11160.278259163617,104733839.77928883,233558.86237288397,804.8316685582498
+Physical_Joints_3,1.3816020369320658,21799.277794260954,468408847.737282,444911.362392562,2037.5139528589766
+Physical_Joints_4,20.44422223428809,136364.97492619336,688659760.7734983,488446.3048373326,2743.6308783120166
+Physical_Joints_5,2.598630893514522,25951.351897967383,261729852.80963752,328694.19452000986,2122.1880988177363
+Physical_Joints_6,5.3304032254833045,34078.94197397224,164687730.54717124,298908.84742281504,1210.1179388857615
+Physical_Joints_7,0.4216911138564153,7303.912062327665,165775953.01975536,270670.42777620547,1232.9434661013308
+Physical_Joints_8,2.6729990626569453,24956.36371478237,242071764.76249984,318222.007695727,2052.7151576452848
+Physical_Joints_9,0.01229461776346093,85.83190099906109,363375.6676177118,16904.788694324903,31.442183442315184
+Physical_Joints_10,9.058211043414976e-05,1.026359617155266,8727.11700299554,2438.0972248440453,8.246570069123651
+Physical_Joints_11,1.8162516967978715,11237.678909446622,54553476.429994635,162990.41092447285,726.4243262601512
+Physical_Joints_12,0.18212314807631225,1201.7632536542621,6026908.474088119,58700.17299409308,224.88365530599995
+Physical_Joints_13,0.014075140289622633,249.3200661463165,5950688.637543027,52007.222033482234,235.2778621427188
+Physical_Joints_14,0.0044331493008304065,45.218150724097015,517368.0293180931,16227.74048180883,93.19423829918303
+Physical_Joints_15,0.18584127630186736,1183.5923800672804,5919517.026816323,54889.32302544124,234.686529637277
+Physical_Joints_16,0.030484290135535157,550.4945509366564,12010097.437748825,71244.64165628521,327.4673164474191
+Physical_Joints_17,0.004808980713050375,51.647062746991736,498084.076439563,16444.42866234138,85.77977445098477
+Physical_Joints_18,0.13458792578362805,863.9868696532632,5129703.375771197,43373.204042300684,242.26168333331296
+Physical_Joints_19,0.055988359236065675,892.9200278226247,15897200.147368867,75172.59564557135,364.4320039266631
+Physical_Joints_20,0.002450705272538071,18.394980531968987,203761.92692980205,8232.295555371447,63.156444692512174
+Physical_Joints_21,0.36954617385183697,2405.4196480249248,11817439.885219576,80149.54017991887,326.5494552356829
+Physical_Joints_22,0.020902479849574367,386.8759261645578,8485362.617580973,61245.781067503565,266.2644330049629
+Physical_Joints_23,0.005452224816982293,49.58238873621466,328118.66004862485,11571.743557987906,68.16735731155048
+Physical_Joints_24,0.04873781441293241,951.5301595914641,25468813.23759544,115114.28285814635,480.798476029019
+Physical_Joints_25,0.0005907115980684431,6.172719739326625,105504.32266373947,5064.901970126591,36.884961103853755
+Physical_Joints_26,0.0010270609948636652,5.81895887053669,72629.4871632023,4424.9201678028285,31.36573760965071
+Physical_Joints_27,0.046520918967718004,910.2322909212882,24208782.609282386,113498.23630035766,467.38552153570515
+Physical_Joints_28,0.02388251308662112,367.3234607158168,8192093.871665002,68524.48610709327,253.8356118850155
+Physical_Joints_29,0.036904888392106545,796.6705955343241,23292816.379894502,109082.58671363545,505.9669848813103
+Physical_Joints_30,0.03012740644757176,719.9836439240262,21661875.741629373,95558.32669745787,506.0620360913998
+Physical_Joints_31,0.03137291387892385,754.104248110478,21830160.718834393,102772.80398246917,476.27625376529306
+Physical_Joints_32,0.03095202803974186,759.517764196181,22611739.337033544,106672.67184013438,481.04491092928123
+Physical_Joints_33,0.02539877388837226,366.6391028157038,8006215.874932601,67886.56415156367,259.0934670760409
+Physical_Joints_34,0.2491377198844758,805.6405630601778,5272733.975564117,40119.479480146816,302.7111866040025
+Physical_Joints_35,0.005302040707151409,40.27693459307856,429806.0744067031,13054.799242112156,69.24827237724212
+Physical_Joints_36,0.25234501392888137,842.863770343134,5456852.489925611,40259.59683063491,309.6887888269949
+Physical_Joints_37,12.548937246719435,63573.69144178925,547699283.1381725,389558.16485737805,2449.4465138405053
+Physical_Joints_38,47.69530334007796,1010268.3531165534,29615888042.130367,3424047.8837314453,15824.7140925219
+Physical_Joints_39,5.8377472270634945,75283.34993339935,817686169.8143164,878410.4722506774,1657.105286758363
+Physical_Joints_40,72.5433092863699,629246.2285711303,16303846338.750484,2551467.0926262764,13832.393715988152
+Physical_Joints_41,8.445519310651678,82598.40289756125,1320353025.3200622,812307.1888504843,3674.638917150553
+Physical_Joints_42,268.3471093387261,1271407.6092411357,9562035369.856476,1832167.4448007417,8635.715768402544
+Physical_Joints_43,113.98677707823074,316654.4344765704,4220461111.2328787,1362353.236900859,6452.563252022251
+Physical_Joints_44,76.66181894857894,1033285.2518622343,14679922015.87652,3273254.686079091,10131.484661814175
+Physical_Joints_45,176.31474636364703,1228807.178964637,23414768327.718925,2556123.115180166,17693.25496748667
+Physical_Joints_46,147.25987635228472,1350845.1458680625,19533645635.08252,2461547.1397691625,13433.598912208292
+Physical_Joints_47,37.02546097008675,551780.7533129138,11995417168.796974,2500887.314497612,8868.254009162523
+Physical_Joints_48,36.550809895456595,176047.6923733352,3273295288.75117,734606.9760061394,7238.940271831253
+Physical_Joints_49,163.85157652208628,873353.8400583826,13437870061.065,2981194.83984475,9084.383934969597
+Physical_Joints_50,8.39386081351141,155150.796634939,3776694228.8022003,1299540.3982629015,5580.88676375686
+Physical_Joints_51,0.4715911873403849,9471.253943919752,203053294.25868613,262017.68635009954,1148.5834549159958
+Physical_Joints_52,97.03092212698189,601701.7889416583,6349218226.026901,1106573.5596089792,9418.989032553001
+Physical_Joints_53,22.068769738311286,121494.62822562753,2309582193.8544316,761850.0177361488,5508.086500619253
+Physical_Joints_54,2.8097020327100344,24284.080262543917,532359797.71638155,559359.2053699876,2112.6224106266013
+Physical_Joints_55,3.5515151855090443,13807.339389100958,131283887.78962323,229644.2384043257,1136.7106694763868
+Physical_Joints_56,69.46971697458642,458258.22567477316,5709376539.093646,1131571.4492637194,8859.828214138055
+Physical_Joints_57,9.568383387447877,73873.848632825,886236563.8622241,831992.3846961728,2150.3685138793016
+Physical_Joints_58,1.1481425489569208,8703.913084372163,117390468.13518497,290497.7347330787,950.327892122916
+Physical_Joints_59,45.335193504853834,651361.9352964757,12768811902.150908,2292211.703987749,9334.136098483152
+Physical_Joints_60,221.99807268869264,1875400.6234531696,28868800020.094467,4297848.175606175,14532.55019198514
+Physical_Joints_61,81.91588939925782,1209433.7631719108,28358288080.259644,3847805.4694903637,12111.519418681955
+Physical_Joints_62,37.15790428374491,342569.5373667174,6048868128.660739,1614967.927199508,6189.099415240915
+Physical_Joints_63,0.25301767997724384,7316.386361556026,205927611.90798685,339479.9595117388,1044.246948116737
+Physical_Joints_64,0.0009949330990961587,10.268205941611177,178233.97012632195,8104.3406149178945,42.03895925412454
+Physical_Joints_65,0.0015943928927051071,11.503273785929723,157786.39195843725,6486.4204923873085,42.404030289003444
+Physical_Joints_66,0.28106297004271763,7755.651562617483,208231048.8880295,351283.7499524732,1042.0924289039751
+Physical_Joints_67,0.09072427846673581,2352.305664844047,63739433.4850293,190873.91872896272,588.8517397966684
+Physical_Joints_68,0.20312211369567443,6075.770678710031,174735558.2148481,313273.94002625364,959.6014360082856
+Physical_Joints_69,0.20406155727514105,5274.08638605395,146907945.04206216,299795.3972968131,851.5080392698368
+Physical_Joints_70,0.21191326350600967,5901.761574445811,160374584.3816309,320261.34183998354,900.3806510850037
+Physical_Joints_71,0.21969902614241982,6252.42772037299,178926245.8258063,317889.16278349364,961.0306141386503
+Physical_Joints_72,0.09172660096779882,2403.4930679434187,63465949.12116845,193251.4284500297,590.0154579069358
+Physical_Joints_73,0.23036783916308004,397.2861308314776,2794947.839138011,28759.833297764515,243.80237759163015
+Physical_Joints_74,0.002192376114323069,20.812309044707686,273806.0857368497,9725.15196832105,58.03513537184741
+Physical_Joints_75,0.23608583702558883,349.6414676671241,2398529.0384424445,22953.78117503292,239.170552208899
+Physical_Joints_76,25.95979499781445,107832.23675983612,1537341735.864779,661461.4648526487,4149.293672764757
+Physical_Joints_77,197.22608635477778,5191661.309793825,121383397639.67719,8917500.848247256,25806.78355591104
+Physical_Joints_78,8.194082134931577,53802.750617729136,576796478.766027,672021.1158437612,1768.2491208258468
+Physical_Joints_79,238.35160170632426,5239675.716339163,139103582825.5306,9606657.601654973,24762.887489358254
+Physical_Joints_80,130.46531014253972,1190249.8890795298,24511888360.567196,3515525.8650192646,12606.886489431681
+Physical_Joints_81,289.35564913628605,2603239.506638596,46156223540.91932,6070633.166160411,16298.156472824276
+Physical_Joints_82,405.9522376284519,1978830.0963700255,38267193264.712555,3683259.115581802,19142.67682937965
+Physical_Joints_83,313.85765968653715,1106657.3898867443,16145808931.690714,2160226.6586216614,13672.037832287313
+Physical_Joints_84,509.07971803863455,3380999.1624613213,48724708223.46482,3752748.7709064814,18992.862926552152
+Physical_Joints_85,84.709478842166,312880.2258290783,3608763586.7297935,959180.7805471667,6451.35229750721
+Physical_Joints_86,1.3222538100280037,7831.575440741328,122345063.65010178,171754.92733484553,1340.1515313189607
+Physical_Joints_87,78.8463217488895,719817.8213477385,14527128067.730616,2164979.3325792965,11831.19365430878
+Physical_Joints_88,3.3114978469789214,41735.73147802627,527518455.6615921,647058.5628260423,1618.4345001850556
+Physical_Joints_89,1.6432817516962428,27494.485357056998,367175162.80209535,581505.0182507013,988.537906984241
+Physical_Joints_90,10.981197530344863,180159.56168143643,2406982275.486435,964989.0516026708,3425.115517330528
+Physical_Joints_91,156.95603965774157,684251.3301870943,7284009305.456605,1350311.6129325493,8524.615543768163
+Physical_Joints_92,0.9708967701229825,3257.5312949982417,54639569.012614556,139747.55448923577,807.1160389387512
+Physical_Joints_93,0.2585051824103448,1341.9358470848586,27853082.54189308,107365.54871862971,501.5403234869844
+Physical_Joints_94,171.5633361863821,2925031.4082918763,69826434662.0473,5230621.873422727,18994.464572353045
+Physical_Joints_95,101.16030645251872,964168.7587032778,23739318408.385414,2878088.1717414767,14595.316190253068
+Physical_Joints_96,3.267467399724662,58504.64413501201,1006022409.2906398,768315.979536896,2385.9891206664097
+Physical_Joints_97,5.8549536972193295,110254.64129026134,3360750049.4345727,1206996.6012244306,4135.501257124024
+Physical_Joints_98,1.7509384847328773,13348.04784729422,145231311.82112932,234666.67401840287,1272.1626526867597
+Physical_Joints_99,115.49542264378778,1106710.267540781,22167663609.978294,2894369.8789207214,13701.303724092191
+Physical_Joints_100,6.966380827119375,101361.39949848139,1197530636.6939917,1052535.3070038287,1983.483435521595
+Physical_Joints_101,0.6284756023745293,3718.13873994548,41973755.55095148,127555.85193600561,655.1068442377185
+Physical_Joints_102,385.63026903775057,2467364.1167330975,21001837470.211693,3785212.9401340242,10716.955160328018
+Physical_Joints_103,43.50833009439409,334987.40544721624,5021249226.193072,1450658.7635645284,5863.618394847417
+Physical_Joints_104,702.2717631051063,3790551.939331748,67870116486.707115,6098904.83470324,22457.572738750798
+Physical_Joints_105,0.020078190863595892,173.5145717564857,3094680.3661600407,45337.7137233732,131.50393169375738
+Physical_Joints_106,0.02869560998015403,147.47765268776342,909080.3202812003,19077.417673047632,72.74718985105294
+Physical_Joints_107,1385.2847338906188,9385759.677408187,109629123766.31421,9107694.077400882,20299.02045552641
+Physical_Joints_108,6.926158666798252,45546.050293936336,469764813.9348976,597634.9507819401,1361.0863536329234
+Physical_Joints_109,149.90328541919362,978789.7673977135,10082646748.406492,2766035.5426175124,6145.232730658389
+Physical_Joints_110,1403.4476127857545,16872607.44446055,325525272374.52924,11864848.37415561,39938.030288723174
+Physical_Joints_111,819.4357098913314,4408268.15021765,56058339359.88513,4277671.191462844,21971.399363310265
+Physical_Joints_112,64.81832857871461,474071.19398623076,8134191314.431837,1630620.9255005815,10318.280751027205
+Physical_Joints_113,5.76505648387049,35422.91302936113,252431650.45218197,447958.52372110914,956.7276375770472
+Physical_Joints_114,6.560712409752503,50995.44207976485,338160961.8445259,450323.86050252995,1139.906350118186
+Physical_Joints_115,112.28253333572475,1384440.6558062672,24824242596.992416,3389571.7366784625,11013.560325775157
+Physical_Joints_116,405.52755977146506,2604300.7233660324,26435760133.821594,3521071.3522034525,14343.479937656803
+Physical_Joints_117,56.78135100473399,601989.2850168952,10099461329.644234,1812316.1575705942,9553.364785835534
+Physical_Joints_118,770.8514523626574,2879669.9582919776,42754688923.101265,4045642.2246968993,19061.557206013847
+Physical_Joints_119,0.053153393544359225,346.3507126507237,4532667.605517882,44323.36703490163,177.41811130256636
+Physical_Joints_120,0.01024265944670595,50.30061338605694,549008.4869087662,12617.728451612853,74.47699576877349
+Physical_Joints_121,1676.405859660844,12589499.5161851,177170460791.54486,8600756.071655089,35014.13152292097
+Physical_Joints_122,7.608853248003048,53634.28579532018,699575128.8212509,579522.7725674742,2171.8748073082506
+Physical_Joints_123,174.61983539406708,1221572.193082289,15655775058.67204,2688133.035389001,10344.386463569112
+Physical_Joints_124,1449.365347424344,17254024.28910889,298730835118.7286,9037724.42659909,49566.046264830475
+Physical_Joints_125,762.6713533342144,4365537.392089289,54500700902.92861,4896833.375477281,23729.961533464073
+Physical_Joints_126,46.36168565129301,498117.9732422018,8284601238.058192,1996952.9495440866,10391.609720964187
+Physical_Joints_127,5.905972958269605,37124.85667808088,356438415.6796962,434371.2647815788,1438.4100406520536
+Physical_Joints_128,6.84980539408922,57265.80871576915,413575110.91703624,470872.21039486775,1450.2848554072932
+Physical_Joints_129,170.24464744780394,2196196.8468194855,39851670224.824,3848349.7070201524,15356.962750402907
diff --git a/data/sac/sac_squat_checkpoints/best_model.zip b/data/sac/sac_squat_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..d4c78728e916219f215617b23bf4a9795b39c816
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c4f8ff16c0f33fcf254e75cbbd9ecff42965e6415b21d358678b0a121c8282
+size 158053814
diff --git a/data/sac/sac_squat_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_squat_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62040485a67f70418833456e95c0e94fbf6faf6
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c73485e9234b0528614166f5815ba65696a5b2aa744cc4c6393950e6946220
+size 203779
diff --git a/data/sac/sac_squat_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_squat_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..175135f397d0d93ffc77a19b9e99cb62a6d2e130
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcecc302b64c34f77647cc082836eae14a8e6676321b30cbbc4aeb959edc0795
+size 265289
diff --git a/data/sac/sac_squat_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_squat_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..34d363cc07ffe602e89f370d66b9edd9c036c89f
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1af957c03264967dc1c88a9680e771dc401547850fcb0a747a65a7c11d6efd
+size 645142
diff --git a/data/sac/sac_squat_checkpoints/vec_normalize.pkl b/data/sac/sac_squat_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..03cb4a2e8d97a95e57cc7a730f1609f7c5e873e9
--- /dev/null
+++ b/data/sac/sac_squat_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:210a03c15527f524a47493a1e8fcef8e0352853a0fb179dce0ede80bc67e4be0
+size 304389
diff --git a/data/sac/sac_squat_logs/SAC_1/events.out.tfevents.1778914543.discover-01.2304603.0 b/data/sac/sac_squat_logs/SAC_1/events.out.tfevents.1778914543.discover-01.2304603.0
new file mode 100644
index 0000000000000000000000000000000000000000..3714215218ea671259e30cf065b5fcb296f94ff1
--- /dev/null
+++ b/data/sac/sac_squat_logs/SAC_1/events.out.tfevents.1778914543.discover-01.2304603.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e35260818b315e11f0cd031cf1145ca6be36d83d9eb2908f80b265a80dfd16
+size 25892986
diff --git a/data/sac/sac_squat_logs/eval_logs/evaluations.npz b/data/sac/sac_squat_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2d9d9ceb8e513fb6b99897bc0875787c15eccee
--- /dev/null
+++ b/data/sac/sac_squat_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e35daa9ac7ef9857ebc2fcd00d186a62f03829619c0c6b28e7e5b3eee14d3239
+size 66794
diff --git a/data/sac/sac_stair_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_stair_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5bcce22a720d61a58458148529ed58e026b3ea59
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,18.49582,50276.31,318570340.0,175649.84,6706.8926
+Muscle_Actions_1,20.761951,50614.746,307473950.0,107199.91,8793.344
+Muscle_Actions_2,6.7936172,31520.154,209235420.0,86832.58,8784.1045
+Muscle_Actions_3,10.737181,50245.027,321636300.0,139359.23,8890.773
+Muscle_Actions_4,19.281603,69258.81,477411870.0,114660.664,12459.923
+Muscle_Actions_5,38.388916,164048.22,1056083800.0,257895.0,16092.527
+Muscle_Actions_6,33.958706,110443.88,702626700.0,167828.48,15450.714
+Muscle_Actions_7,15.429059,63336.723,496461380.0,119714.9,13372.261
+Muscle_Actions_8,24.082005,92708.3,587193500.0,87941.27,15506.096
+Muscle_Actions_9,36.46622,141799.19,955361500.0,284877.06,16380.021
+Muscle_Actions_10,44.85998,153053.44,959519700.0,296741.9,14281.29
+Muscle_Actions_11,40.60942,135489.6,899307400.0,122629.945,17788.48
+Muscle_Actions_12,41.47356,202501.56,1333363600.0,157401.08,22466.27
+Muscle_Actions_13,34.73563,131235.3,971482050.0,134002.33,18328.52
+Muscle_Actions_14,31.979546,104386.08,672560600.0,242613.84,10450.421
+Muscle_Actions_15,35.28694,100338.69,569721000.0,164972.03,13828.452
+Muscle_Actions_16,63.582783,280094.3,1730777200.0,275054.44,23270.006
+Muscle_Actions_17,44.73751,146519.73,774640800.0,174817.92,15222.496
+Muscle_Actions_18,52.97303,259262.77,1887650000.0,262321.6,25070.604
+Muscle_Actions_19,30.867367,83122.69,433681400.0,164851.25,9813.125
+Muscle_Actions_20,30.548923,113551.48,705545150.0,150372.12,15489.229
+Muscle_Actions_21,47.640125,122450.93,729274560.0,191022.52,15669.93
+Muscle_Actions_22,151.77287,826764.2,6424375000.0,321974.28,46505.223
+Muscle_Actions_23,133.80997,825082.3,6584840000.0,307461.62,45851.207
+Muscle_Actions_24,30.1671,113110.08,780471360.0,199319.62,15090.705
+Muscle_Actions_25,26.762026,62252.492,306591870.0,170838.72,6156.6567
+Muscle_Actions_26,33.606743,95580.336,562410560.0,200370.89,12354.61
+Muscle_Actions_27,52.74634,221585.58,1330578300.0,195282.52,20113.9
+Muscle_Actions_28,62.67281,268972.3,1812097300.0,177355.11,26201.775
+Muscle_Actions_29,112.2574,559215.6,3739039500.0,257002.95,37347.023
+Muscle_Actions_30,25.107546,132286.8,979386750.0,112732.99,19152.117
+Muscle_Actions_31,9.066988,29651.361,163864750.0,102611.41,6811.3696
+Muscle_Actions_32,25.650856,59249.426,288784300.0,150812.78,6047.307
+Muscle_Actions_33,70.75433,359766.72,2631020800.0,466768.7,24222.387
+Muscle_Actions_34,21.12603,73774.484,501453100.0,108409.85,13449.843
+Muscle_Actions_35,10.81571,47973.973,290959100.0,59516.9,10917.884
+Muscle_Actions_36,39.356327,177744.02,1230685800.0,133615.0,21621.912
+Muscle_Actions_37,21.843414,61348.36,333994900.0,144831.53,10146.321
+Muscle_Actions_38,37.18816,141668.58,922298100.0,283409.06,10743.486
+Muscle_Actions_39,36.65171,123327.016,736185860.0,197024.58,14983.106
+Muscle_Actions_40,16.384829,53866.336,342696670.0,107051.41,8035.3906
+Muscle_Actions_41,30.380571,161206.86,1185552500.0,166254.69,20083.332
+Muscle_Actions_42,37.427444,80429.82,361400130.0,127209.25,8580.898
+Muscle_Actions_43,48.51032,146862.19,867834800.0,192671.89,14164.507
+Muscle_Actions_44,20.868214,116593.414,897244400.0,213585.31,11274.022
+Muscle_Actions_45,24.774529,81176.99,454493220.0,205850.83,8763.345
+Muscle_Actions_46,19.549368,53320.598,276613570.0,172946.42,5806.83
+Muscle_Actions_47,26.073029,68560.49,410802780.0,134648.7,10829.124
+Muscle_Actions_48,30.37651,108076.96,693045700.0,111254.29,15273.692
+Muscle_Actions_49,45.176586,145160.86,869032400.0,142242.28,17979.455
+Muscle_Actions_50,28.409067,136910.75,1028622660.0,245056.23,17004.988
+Muscle_Actions_51,52.02293,163531.77,807165500.0,173803.5,12869.775
+Muscle_Actions_52,22.81684,105261.836,753716900.0,152227.45,14764.207
+Muscle_Actions_53,5.889166,15677.632,110280824.0,57860.984,5657.3555
+Muscle_Actions_54,43.087692,159238.56,1019564200.0,99915.14,19927.426
+Muscle_Actions_55,23.919151,81850.49,517538400.0,135329.4,13409.286
+Muscle_Actions_56,54.085033,202474.48,1265619700.0,215337.69,20227.447
+Muscle_Actions_57,41.19741,148523.95,823018900.0,227577.92,15295.932
+Muscle_Actions_58,43.43753,146032.73,837470340.0,321215.94,12458.182
+Muscle_Actions_59,29.92619,122544.91,849398460.0,206522.64,15217.119
+Muscle_Actions_60,6.06837,25781.904,174943410.0,95869.03,5058.08
+Muscle_Actions_61,33.53165,109141.13,683335200.0,125356.8,15516.453
+Muscle_Actions_62,15.81587,74450.97,520388320.0,92293.53,14480.406
+Muscle_Actions_63,21.129171,67453.52,435647520.0,173506.4,9992.919
+Muscle_Actions_64,45.802864,207562.31,1475025900.0,201288.34,21658.936
+Muscle_Actions_65,35.512104,105374.39,613096960.0,199210.88,11551.156
+Muscle_Actions_66,19.298817,54159.027,301073250.0,128825.89,10365.888
+Muscle_Actions_67,33.919544,125457.375,825368500.0,263532.1,14861.43
+Muscle_Actions_68,59.31456,299213.62,2192400100.0,325310.22,24773.635
+Muscle_Actions_69,33.33744,125702.93,839015200.0,173768.53,16232.33
+Muscle_Actions_70,23.069885,80052.05,539196860.0,166227.64,12501.089
+Muscle_Actions_71,33.86735,147405.44,983807300.0,262862.44,13830.956
+Muscle_Actions_72,25.320724,82483.93,522682660.0,115632.45,13567.969
+Muscle_Actions_73,23.833374,101781.04,694533000.0,175013.78,14992.558
+Muscle_Actions_74,39.57673,117104.25,620141800.0,197571.39,12262.717
+Muscle_Actions_75,35.851288,117783.01,754662500.0,216474.33,15659.763
+Muscle_Actions_76,27.165405,65360.902,337511700.0,200852.78,5768.032
+Muscle_Actions_77,4.4510746,16677.193,105074210.0,44841.035,6433.001
+Muscle_Actions_78,37.105904,151612.92,991730560.0,147225.83,19258.838
+Muscle_Actions_79,39.17908,127385.82,730965570.0,138560.42,16287.922
+Muscle_Actions_80,29.970984,93288.875,449954270.0,109066.81,11596.267
+Muscle_Actions_81,27.695957,91137.26,524726270.0,84104.39,14606.444
+Muscle_Actions_82,25.732822,96268.63,587636350.0,123772.32,14848.562
+Muscle_Actions_83,37.762093,183155.64,1310320800.0,190189.88,21564.6
+Muscle_Actions_84,38.16234,117872.516,718513400.0,227309.4,12334.865
+Muscle_Actions_85,33.49577,138032.94,912337100.0,276556.66,15086.501
+Muscle_Actions_86,41.065323,151918.67,953765200.0,170375.14,16263.572
+Muscle_Actions_87,17.534525,63198.008,436839460.0,118081.33,12587.068
+Muscle_Actions_88,22.222486,125223.016,1002102340.0,132084.45,18335.736
+Muscle_Actions_89,30.356157,127812.05,909705660.0,254484.2,15069.494
+Muscle_Actions_90,33.591362,139490.5,907099140.0,232264.67,14016.53
+Muscle_Actions_91,48.08844,157963.08,823040830.0,135179.48,16882.736
+Muscle_Actions_92,51.45652,273769.5,1882040200.0,334331.44,22334.535
+Muscle_Actions_93,16.148207,50014.74,298522020.0,95285.85,9827.706
+Muscle_Actions_94,47.524147,191908.22,1158934400.0,279352.25,15620.933
+Muscle_Actions_95,52.023857,154503.08,845554800.0,216141.22,14763.453
+Muscle_Actions_96,19.383354,88888.54,654638400.0,212060.42,13011.321
+Muscle_Actions_97,47.314167,214984.58,1404882300.0,236886.56,20957.662
+Muscle_Actions_98,12.921019,39461.215,220494430.0,104461.805,7140.78
+Muscle_Actions_99,24.31023,123430.89,976071000.0,127477.23,18405.346
+Muscle_Actions_100,37.184757,107744.97,644660900.0,187611.7,12516.063
+Muscle_Actions_101,26.70872,93743.766,644665860.0,174357.36,14017.849
+Muscle_Actions_102,16.077017,35260.484,183554500.0,101021.695,7492.829
+Muscle_Actions_103,22.188498,66120.41,381748500.0,101099.74,10141.086
+Muscle_Actions_104,26.968678,112584.22,650145100.0,213865.75,13306.901
+Muscle_Actions_105,20.250763,85528.625,599143000.0,142531.47,13817.36
+Muscle_Actions_106,19.720055,89549.0,676175300.0,205316.55,12018.393
+Muscle_Actions_107,25.265377,74794.02,292095300.0,179685.2,6885.4336
+Muscle_Actions_108,29.152555,82437.945,463071100.0,183677.8,10400.294
+Muscle_Actions_109,29.487034,90381.09,532778940.0,121599.195,13228.97
+Muscle_Actions_110,68.53532,295583.12,1902149100.0,262851.0,22701.244
+Muscle_Actions_111,25.25288,91619.77,566067260.0,164353.12,12687.645
+Muscle_Actions_112,45.789783,199911.16,1229472600.0,337643.0,11809.144
+Muscle_Actions_113,42.958786,170122.5,1056144450.0,138537.36,19116.436
+Muscle_Actions_114,29.340614,117819.62,742061250.0,224897.62,10143.988
+Muscle_Actions_115,55.117855,167323.1,969485400.0,257494.69,16203.269
+Muscle_Actions_116,26.55876,106101.45,669933200.0,165399.6,14183.548
+Muscle_Actions_117,48.65622,176167.38,1053151600.0,327314.6,13701.318
+Muscle_Actions_118,46.154102,169127.0,1139996000.0,159234.19,18812.787
+Muscle_Actions_119,41.27557,169731.12,1010105300.0,224215.8,17862.389
+Muscle_Actions_120,31.522678,130944.71,906968700.0,281320.75,14513.384
+Muscle_Actions_121,15.05356,49084.805,297527100.0,140189.47,8642.238
+Muscle_Actions_122,31.272226,162340.88,1103809800.0,257599.56,19599.44
+Muscle_Actions_123,20.59677,43055.695,228888100.0,127147.016,5991.757
+Muscle_Actions_124,24.841227,62638.81,302414900.0,143358.9,9509.642
+Muscle_Actions_125,51.254936,294838.6,2127807000.0,196748.02,28471.928
+Muscle_Actions_126,52.41402,204322.56,1247380200.0,149267.88,21049.127
+Muscle_Actions_127,23.310562,81617.68,499333730.0,149448.28,11955.813
+Muscle_Actions_128,41.85623,146900.11,970256100.0,273930.9,16303.794
+Muscle_Actions_129,35.616543,128925.48,789371840.0,191471.89,14659.155
+Muscle_Actions_130,23.865904,75352.26,517159000.0,165656.69,12344.359
+Muscle_Actions_131,25.924837,85403.64,484616000.0,134593.19,12193.155
+Muscle_Actions_132,23.299795,66580.05,413944740.0,130932.57,10609.639
+Muscle_Actions_133,33.412148,93483.5,519897280.0,131206.1,12125.885
+Muscle_Actions_134,12.206131,52750.535,319324130.0,91970.82,9609.944
+Muscle_Actions_135,12.106118,36733.89,224808930.0,86248.86,7752.3286
+Muscle_Actions_136,23.43213,104608.516,740508800.0,111890.84,15956.922
+Muscle_Actions_137,29.993319,79060.67,464925700.0,109351.09,11982.931
+Muscle_Actions_138,20.085283,56447.543,298177100.0,138322.47,8787.255
+Muscle_Actions_139,23.584707,96435.1,637155700.0,218128.08,12488.22
+Muscle_Actions_140,19.402096,79866.73,553416600.0,112756.836,14521.893
+Muscle_Actions_141,18.531466,83688.03,587557800.0,119159.03,14515.74
+Muscle_Actions_142,46.831844,232503.3,1615488600.0,267552.12,21157.045
+Muscle_Actions_143,21.089779,72195.86,458373570.0,161755.19,9290.005
+Muscle_Actions_144,41.771805,155455.6,1026684860.0,158524.36,18977.645
+Muscle_Actions_145,10.976662,24501.508,126872904.0,78677.36,5389.7607
+Muscle_Actions_146,55.747337,216915.62,1427261000.0,366055.28,17409.494
+Muscle_Actions_147,39.085323,175023.48,1160332200.0,168807.1,18399.81
+Muscle_Actions_148,22.12653,51563.547,256737730.0,101937.98,7825.267
+Muscle_Actions_149,34.450626,128748.88,747062200.0,193963.83,14336.941
+Muscle_Actions_150,31.091726,109881.21,680513900.0,177257.42,14754.64
+Muscle_Actions_151,22.67394,89243.84,560279900.0,154010.17,11096.315
+Muscle_Actions_152,46.412617,144047.72,806937200.0,210849.47,14641.205
+Muscle_Actions_153,31.212118,91822.04,531273700.0,146430.9,13564.9375
+Muscle_Actions_154,24.609959,78889.4,421972830.0,221227.66,8197.868
+Muscle_Actions_155,25.53628,83327.6,549035200.0,150681.38,12009.535
+Muscle_Actions_156,49.58783,219266.42,1560147500.0,260607.16,21256.764
+Muscle_Actions_157,19.933115,63188.953,332983330.0,120953.7,9907.994
+Muscle_Actions_158,46.920315,183430.67,1212451200.0,338636.34,15511.945
+Muscle_Actions_159,69.70603,270999.25,1681455100.0,318453.5,20633.96
+Muscle_Actions_160,48.475388,207875.25,1405678500.0,236777.7,20395.44
+Muscle_Actions_161,35.05731,99371.2,591422340.0,137765.56,13451.454
+Muscle_Actions_162,34.54091,117384.26,668734200.0,230154.47,10242.835
+Muscle_Actions_163,26.696424,114509.69,746934340.0,160668.4,15519.294
+Muscle_Actions_164,31.412668,113397.65,688939200.0,222977.47,12358.994
+Muscle_Actions_165,25.214722,82483.35,531248580.0,113067.72,14369.417
+Muscle_Actions_166,31.592464,114612.484,767518000.0,222349.08,14326.961
+Muscle_Actions_167,26.084883,90253.25,577396350.0,197260.67,11890.674
+Muscle_Actions_168,24.007435,79217.9,496100030.0,152387.67,12980.118
+Muscle_Actions_169,20.490585,96199.99,669231800.0,174912.61,13898.451
+Muscle_Actions_170,19.295013,76646.25,455312800.0,148097.03,12009.969
+Muscle_Actions_171,37.18455,141504.06,939570800.0,274497.03,14223.363
+Muscle_Actions_172,8.076097,30948.945,213709010.0,130323.44,6998.896
+Muscle_Actions_173,32.28672,96137.16,569311940.0,147408.02,12227.932
+Muscle_Actions_174,38.5509,189178.11,1318487300.0,129256.47,22424.992
+Muscle_Actions_175,33.035126,110526.23,673366200.0,189940.72,11988.115
+Muscle_Actions_176,37.89168,198510.69,1511660200.0,171666.27,22667.139
+Muscle_Actions_177,29.400444,102158.05,632402000.0,161409.77,14498.852
+Muscle_Actions_178,19.151217,72039.734,541492900.0,106532.305,13731.779
+Muscle_Actions_179,30.866161,77006.31,467936580.0,129910.37,11740.689
+Muscle_Actions_180,27.670547,130057.16,1012809340.0,280697.4,11462.788
+Muscle_Actions_181,40.799644,163757.61,1047961860.0,298366.56,15907.002
+Muscle_Actions_182,57.668507,223453.44,1413269100.0,350404.34,17678.623
+Muscle_Actions_183,53.766037,256010.75,1801292000.0,237828.61,22811.723
+Muscle_Actions_184,35.105885,157817.36,1053602700.0,229790.23,17981.373
+Muscle_Actions_185,36.011074,98688.31,552777700.0,214522.8,11604.181
+Muscle_Actions_186,26.333511,126896.56,789672500.0,226812.23,14133.573
+Muscle_Actions_187,21.706776,44433.01,212910560.0,97056.086,6223.5103
+Muscle_Actions_188,48.732338,140139.47,754881860.0,213813.42,12234.028
+Muscle_Actions_189,38.142498,143540.06,924680450.0,144137.44,17971.387
+Muscle_Actions_190,93.80693,427326.9,2857475300.0,222025.4,30589.12
+Muscle_Actions_191,11.092186,24606.41,114434270.0,89434.04,4875.7764
+Muscle_Actions_192,37.925995,99513.0,575451400.0,165537.02,14419.993
+Muscle_Actions_193,29.653278,85456.336,484615740.0,98567.984,12739.72
+Muscle_Actions_194,29.843103,78319.86,430662000.0,137500.58,9290.903
+Muscle_Actions_195,11.624639,24625.799,93018730.0,72568.52,3975.9858
+Muscle_Actions_196,82.21936,407609.06,2713765400.0,277285.16,27975.31
+Muscle_Actions_197,31.54455,174467.19,1382420200.0,181817.89,21029.877
+Muscle_Actions_198,58.987915,319313.4,2232999200.0,251563.67,27088.459
+Muscle_Actions_199,35.8456,84932.97,421917060.0,176844.16,7415.7046
+Muscle_Actions_200,80.03797,426025.44,3101871400.0,227647.56,35497.023
+Muscle_Actions_201,47.089664,197796.81,1332441000.0,375367.97,13028.111
+Muscle_Actions_202,37.70359,132888.53,851489540.0,194730.73,15464.729
+Muscle_Actions_203,19.228432,71436.62,475095650.0,193456.14,10809.932
+Muscle_Actions_204,21.092108,69186.44,390839740.0,202208.52,8746.232
+Muscle_Actions_205,29.531788,142940.8,957835900.0,231103.36,15639.807
+Muscle_Actions_206,35.876236,97065.63,536946940.0,135390.61,13509.36
+Muscle_Actions_207,24.49751,96968.98,628581800.0,110017.734,15251.672
+Muscle_Actions_208,18.77838,97263.234,764262200.0,133023.11,16246.18
+Muscle_Actions_209,41.57907,122374.44,668373300.0,276109.22,10051.707
+Muscle_Actions_210,8.691786,25209.83,139578720.0,102860.48,4671.368
+Muscle_Actions_211,28.609917,113546.94,846846340.0,227395.4,16256.683
+Muscle_Actions_212,44.592583,228586.6,1640936200.0,154544.0,23964.39
+Muscle_Actions_213,56.58983,271242.06,1943815200.0,247975.88,26031.105
+Muscle_Actions_214,55.461636,199642.53,1257420500.0,213064.56,20171.514
+Muscle_Actions_215,20.115711,81061.734,558002240.0,265937.0,10665.5625
+Muscle_Actions_216,70.17578,335592.4,2298824000.0,291310.44,24591.68
+Muscle_Actions_217,60.28564,234247.52,1516792700.0,206174.7,21244.44
+Muscle_Actions_218,60.91226,286874.9,2002441300.0,202714.92,27795.06
+Muscle_Actions_219,53.11278,308874.12,2221933300.0,194578.42,27143.738
+Muscle_Actions_220,26.865376,103057.766,714301800.0,152463.0,15691.661
+Muscle_Actions_221,43.926758,160793.11,1059166140.0,322352.8,13229.455
+Muscle_Actions_222,89.04339,337271.16,1987583900.0,218016.78,23843.514
+Muscle_Actions_223,154.28003,693859.0,4533659000.0,390397.56,32474.508
+Muscle_Actions_224,19.0355,59060.0,277120100.0,166684.92,3018.0415
+Muscle_Actions_225,31.9734,76582.42,397773100.0,198676.89,6677.341
+Muscle_Actions_226,63.162216,286519.1,1921778000.0,249974.86,24752.926
+Muscle_Actions_227,33.739525,169832.53,1129282800.0,123162.15,21268.916
+Muscle_Actions_228,35.745342,76232.57,287800600.0,166557.08,7478.0654
+Muscle_Actions_229,30.053799,88739.02,505836770.0,185166.72,11573.786
+Muscle_Actions_230,27.118578,88976.18,566131900.0,113790.92,14371.839
+Muscle_Actions_231,31.031696,99062.89,627205900.0,158983.47,14946.369
+Muscle_Actions_232,45.133663,177693.61,1178591100.0,126826.375,21179.004
+Muscle_Actions_233,55.74491,326506.47,2625085400.0,325882.03,26549.885
+Muscle_Actions_234,29.736223,69170.92,412384320.0,203970.4,9252.285
+Muscle_Actions_235,43.65653,134072.31,734002560.0,260663.12,9568.771
+Muscle_Actions_236,13.841341,34254.01,189404560.0,181554.27,3188.5857
+Muscle_Actions_237,30.849216,120256.1,818490900.0,132315.34,17621.568
+Muscle_Actions_238,44.22668,137934.5,781020400.0,175915.14,14594.348
+Muscle_Actions_239,203.18657,1381075.9,10423103000.0,430742.1,56823.527
+Muscle_Actions_240,36.756187,114712.61,731044700.0,260961.06,13111.133
+Muscle_Actions_241,82.01231,274227.47,1553539300.0,226820.33,23231.225
+Muscle_Actions_242,57.681667,268075.66,1927045900.0,181732.92,27432.123
+Muscle_Actions_243,0.0003475716,1.17606,6474.733,979.6247,28.155773
+Muscle_Actions_244,28.846903,112679.195,690594900.0,182483.58,13731.047
+Muscle_Actions_245,16.5099,107045.39,803243650.0,128880.5,16304.246
+Muscle_Actions_246,30.928732,68771.836,357771360.0,140844.17,7758.663
+Muscle_Actions_247,46.798126,156754.53,1065462200.0,239773.0,11457.717
+Muscle_Actions_248,63.281593,244135.56,1564681900.0,246393.53,21258.62
+Muscle_Actions_249,42.293312,124478.28,802290560.0,215847.81,11511.564
+Muscle_Actions_250,36.002865,161205.23,1108154800.0,158434.62,20613.264
+Muscle_Actions_251,15.111725,51317.598,302985500.0,117009.195,10370.383
+Muscle_Actions_252,46.009598,116032.61,661008600.0,213139.1,11009.172
+Muscle_Actions_253,31.790419,91869.336,530347360.0,107026.61,13390.531
+Muscle_Actions_254,23.04207,79272.0,502192220.0,143895.39,13326.166
+Muscle_Actions_255,12.774414,61896.008,442545570.0,117756.29,11749.851
+Muscle_Actions_256,50.332874,196951.33,1317577100.0,309733.0,16432.082
+Muscle_Actions_257,30.556381,63501.31,339554700.0,126415.48,7086.4727
+Muscle_Actions_258,40.68498,124456.43,670493950.0,174318.1,10706.89
+Muscle_Actions_259,42.178352,155533.83,975913200.0,277442.6,13507.617
+Muscle_Actions_260,38.401302,171449.42,1276732900.0,239645.95,19132.41
+Muscle_Actions_261,38.287952,158160.16,1040063000.0,235181.4,16646.69
+Muscle_Actions_262,0.23672721,1139.014,6916395.0,19260.78,1162.7988
+Muscle_Actions_263,0.004350967,18.445139,127202.12,2804.54,168.55917
+Muscle_Actions_264,0.005056396,15.725438,82707.96,4126.7573,60.502434
+Muscle_Actions_265,16.531794,22060.598,27552264.0,81068.086,458.9475
+Muscle_Actions_266,41.506535,98164.12,513918940.0,219171.44,5066.8247
+Muscle_Actions_267,6.0533285,6739.6606,33234948.0,70208.1,1658.0656
+Muscle_Actions_268,37.863834,94857.82,484355940.0,96622.31,13162.127
+Muscle_Actions_269,34.80299,122152.43,813585300.0,243125.12,15339.645
+Muscle_Actions_270,25.343206,101367.05,688286100.0,94339.1,16159.256
+Muscle_Actions_271,27.256464,85478.32,546801660.0,183617.61,12430.773
+Muscle_Actions_272,30.210548,114732.67,763843840.0,189495.5,15286.902
+Muscle_Actions_273,21.955448,77045.375,473570200.0,143189.88,11659.335
+Muscle_Actions_274,30.097506,75424.805,423245900.0,123624.625,11660.67
+Muscle_Actions_275,23.651493,111485.38,767718140.0,237192.62,13628.221
+Muscle_Actions_276,19.905346,73440.93,500250460.0,118348.26,11931.301
+Muscle_Actions_277,37.9945,157867.14,1112362000.0,257972.03,15651.714
+Muscle_Actions_278,30.744797,126986.93,917593860.0,199337.64,18214.979
+Muscle_Actions_279,39.147884,122683.87,799547000.0,214443.23,14894.326
+Muscle_Actions_280,40.43486,128494.05,810017800.0,215202.1,15990.56
+Muscle_Actions_281,61.505165,180258.66,1007918660.0,307332.8,10338.885
+Muscle_Actions_282,87.7626,365303.62,2453921500.0,444184.97,23944.967
+Muscle_Actions_283,0.0006013255,2.2784247,14630.384,1090.3925,48.374226
+Muscle_Actions_284,34.69577,127034.64,877627460.0,176818.97,17216.117
+Muscle_Actions_285,49.08857,198068.67,1399243300.0,396481.03,16469.385
+Muscle_Actions_286,23.464287,79005.54,468572860.0,144512.2,12699.624
+Muscle_Actions_287,51.547367,134034.67,762966800.0,127136.07,16765.562
+Muscle_Actions_288,100.257484,316383.53,1949464300.0,282497.72,16393.332
+Muscle_Actions_289,70.64688,243595.95,1618499700.0,314781.56,21470.361
+Muscle_Actions_290,96.81789,493331.47,3625226200.0,340310.62,34691.027
+Muscle_Actions_291,22.187485,52817.69,266726100.0,158769.86,5840.5815
+Muscle_Actions_292,12.723429,42895.836,288699360.0,107510.06,9203.956
+Muscle_Actions_293,29.09112,113569.86,765730900.0,198483.83,13999.207
+Muscle_Actions_294,21.190405,133441.06,1032216450.0,309613.53,13817.596
+Muscle_Actions_295,28.504227,110272.6,759088200.0,112394.72,17578.652
+Muscle_Actions_296,27.816387,132298.38,899742460.0,232884.08,12937.868
+Muscle_Actions_297,14.562968,34965.508,162045390.0,76981.55,6239.4917
+Muscle_Actions_298,13.782063,61708.24,416268100.0,96729.1,11708.599
+Muscle_Actions_299,34.483902,109145.48,629648300.0,129247.37,14777.237
+Muscle_Actions_300,50.768887,209466.14,1416481200.0,253896.86,19177.006
+Muscle_Actions_301,40.48663,180330.62,1207630600.0,358405.06,16453.88
+Muscle_Actions_302,21.203121,107518.99,781642560.0,129794.77,17323.8
+Muscle_Actions_303,23.935139,104968.75,655423360.0,176319.38,10762.599
+Muscle_Actions_304,42.69054,199519.34,1453025900.0,245365.67,22475.238
+Muscle_Actions_305,0.0022832598,3.9484537,26413.092,1477.003,48.678265
+Muscle_Actions_306,16.926458,59127.39,398076000.0,99609.97,12643.584
+Muscle_Actions_307,25.314829,74770.83,374366140.0,141939.42,7702.1387
+Muscle_Actions_308,37.26534,158044.19,1071727040.0,273090.75,16673.537
+Muscle_Actions_309,42.61565,169007.53,1071097100.0,337758.78,14034.312
+Muscle_Actions_310,16.6414,47108.098,275246560.0,104138.805,8316.018
+Muscle_Actions_311,38.919952,177742.17,1239803600.0,250869.03,18265.688
+Muscle_Actions_312,45.47153,193625.25,1340502800.0,136051.72,21765.785
+Muscle_Actions_313,11.246346,59682.78,417000030.0,98987.414,11715.206
+Muscle_Actions_314,3.6160688,19623.91,134428500.0,50783.223,7060.6104
+Muscle_Actions_315,41.389385,149471.6,855315100.0,214859.34,13382.76
+Muscle_Actions_316,37.06337,153039.52,1081365900.0,328297.03,12817.687
+Muscle_Actions_317,17.58504,83013.57,555673340.0,182565.16,9334.942
+Muscle_Actions_318,30.760334,136680.2,994569000.0,257885.31,15131.018
+Muscle_Actions_319,9.843945,65841.19,495865280.0,77504.37,13010.294
+Muscle_Actions_320,2.4281197,8507.055,46894410.0,75753.375,2523.8145
+Muscle_Actions_321,63.2556,251873.73,1577767400.0,227695.84,23331.041
+Muscle_Actions_322,0.053989783,241.17433,1647519.1,7114.0454,743.36523
+Muscle_Actions_323,4.5889225,16126.09,99158240.0,46488.22,6004.0327
+Muscle_Actions_324,0.015876282,73.79121,500436.34,3509.6184,446.82153
+Muscle_Actions_325,35.04101,155237.33,1075202400.0,380059.8,13576.964
+Muscle_Actions_326,21.317636,94917.43,728834560.0,255320.67,11644.29
+Muscle_Actions_327,0.26607007,1515.4441,12135656.0,18459.066,1989.7335
+Muscle_Actions_328,0.03675017,181.9778,1295912.8,4764.855,705.028
+Muscle_Actions_329,0.14919949,804.6482,5778256.0,16860.373,1157.7393
+Muscle_Actions_330,3.4269974,15607.319,108214616.0,46592.34,6387.326
+Muscle_Actions_331,0.004607423,13.59783,60980.11,3619.805,52.07937
+Muscle_Actions_332,0.0005264186,1.520315,9962.9,851.7355,37.683525
+Muscle_Actions_333,58.647514,267063.94,1924373500.0,185636.4,27725.396
+Muscle_Actions_334,43.77348,176284.89,1128058900.0,280702.88,15404.656
+Muscle_Actions_335,29.127148,115645.32,710473900.0,197438.25,10969.88
+Muscle_Actions_336,24.988108,113401.61,883001100.0,137110.69,16927.584
+Muscle_Actions_337,25.487741,101059.02,642671200.0,102534.055,15504.31
+Muscle_Actions_338,13.070824,42763.902,272200580.0,105606.13,9104.828
+Muscle_Actions_339,24.43205,106244.93,787196900.0,270367.1,11697.706
+Muscle_Actions_340,37.965374,108429.21,614197950.0,182740.95,8939.18
+Muscle_Actions_341,29.065437,55342.57,298344930.0,104296.1,9332.855
+Muscle_Actions_342,20.870584,41585.51,172788800.0,91030.086,4445.528
+Muscle_Actions_343,16.690111,66477.74,472776640.0,78753.586,13994.099
+Muscle_Actions_344,28.731873,98432.97,614534000.0,154679.17,12361.04
+Muscle_Actions_345,18.219648,62416.918,352166300.0,110815.18,9973.818
+Muscle_Actions_346,17.002966,48799.266,248627940.0,126291.4,8344.548
+Muscle_Actions_347,33.278145,86449.055,468112130.0,111604.84,12068.593
+Muscle_Actions_348,19.458954,44071.57,231287000.0,80949.055,9086.015
+Muscle_Actions_349,49.98737,190929.03,1151988400.0,208741.58,16421.713
+Muscle_Actions_350,31.061699,118160.44,749773630.0,118159.33,17299.047
+Muscle_Actions_351,19.641304,76128.56,509109900.0,102633.44,13905.067
+Muscle_Actions_352,20.341679,95688.4,646268700.0,134083.72,14004.549
+Muscle_Actions_353,74.72175,374627.4,2774388500.0,318452.47,30515.412
+Muscle_Actions_354,19.821232,88265.17,642518200.0,203413.5,14116.332
+Muscle_Actions_355,35.166477,132261.0,884281100.0,175026.3,17837.375
+Muscle_Actions_356,41.842113,178910.5,1218667500.0,181802.11,20546.838
+Muscle_Actions_357,50.579056,146956.67,860792100.0,203626.0,16792.496
+Muscle_Actions_358,20.652935,90631.586,598466900.0,154526.03,14448.501
+Muscle_Actions_359,12.3589325,54889.85,379720770.0,100528.72,12034.135
+Muscle_Actions_360,33.82477,112267.95,738357700.0,172423.92,13709.871
+Muscle_Actions_361,34.45031,110495.48,711289150.0,165102.56,15800.208
+Muscle_Actions_362,70.170586,324819.2,2283401000.0,262252.28,25478.48
+Muscle_Actions_363,19.816116,74260.77,490649280.0,152973.05,11567.395
+Muscle_Actions_364,21.050064,71053.18,458908400.0,128148.484,12725.151
+Muscle_Actions_365,31.624725,62428.4,332750800.0,92319.14,11272.37
+Muscle_Actions_366,26.790476,55658.438,286376000.0,216847.88,5874.6494
+Muscle_Actions_367,42.363594,174192.42,1108082000.0,310459.25,16367.208
+Muscle_Actions_368,6.9986577,5105.05,17507536.0,52969.836,1053.4305
+Muscle_Actions_369,25.769632,84717.84,523925250.0,195077.95,10381.858
+Muscle_Actions_370,32.282726,123451.945,753297200.0,176155.75,14339.158
+Muscle_Actions_371,19.37785,76740.76,508563800.0,154949.06,12929.825
+Muscle_Actions_372,6.561903,22768.547,153773870.0,81112.84,7155.066
+Muscle_Actions_373,29.146105,78541.5,443482000.0,126042.484,11255.891
+Muscle_Actions_374,40.642372,147656.53,908423800.0,241306.4,13341.624
+Muscle_Actions_375,5.896812,23209.549,155146580.0,88686.28,5920.8604
+Muscle_Actions_376,43.5254,181694.7,1246609400.0,281073.88,18066.463
+Muscle_Actions_377,12.23773,47292.59,299707330.0,119144.45,9349.553
+Muscle_Actions_378,20.781874,72424.49,358411800.0,191623.45,8437.721
+Muscle_Actions_379,0.5875404,1800.2869,10819076.0,26178.404,1597.1117
+Muscle_Actions_380,15.625757,70874.266,464677020.0,257293.88,7038.344
+Muscle_Actions_381,1.3467789,4398.158,28910144.0,28975.502,2935.609
+Muscle_Actions_382,36.13733,115597.78,650741800.0,175504.27,13850.9
+Muscle_Actions_383,30.163954,98405.38,652096400.0,189051.88,13076.446
+Muscle_Actions_384,8.769883,44353.7,348037630.0,82509.484,11392.8
+Muscle_Actions_385,34.57729,93142.79,529557060.0,185510.05,12159.344
+Muscle_Actions_386,34.365692,96599.055,544729860.0,140340.12,11927.966
+Muscle_Actions_387,19.640743,105701.93,796040100.0,148098.64,16541.578
+Muscle_Actions_388,3.3875716,17890.117,129403650.0,45216.902,6729.0713
+Muscle_Actions_389,23.231478,67293.91,394281660.0,166354.5,7083.5225
+Muscle_Actions_390,24.782564,86423.055,589477800.0,143128.25,13856.722
+Muscle_Actions_391,22.444517,61550.29,375805250.0,125180.16,9442.122
+Muscle_Actions_392,64.766205,256236.05,1714005500.0,236727.52,23052.215
+Muscle_Actions_393,48.682602,142372.77,829980860.0,214371.08,13872.82
+Muscle_Actions_394,7.4114604,17692.57,121661140.0,121314.31,3733.037
+Muscle_Actions_395,33.283493,145460.45,985824500.0,177068.48,17538.502
+Muscle_Actions_396,4.3834853,19644.205,138883860.0,86771.01,5975.126
+Muscle_Actions_397,7.8359814,33718.06,239430480.0,77827.78,8914.164
+Muscle_Actions_398,19.896498,40222.54,176934740.0,77388.3,6874.4893
+Muscle_Actions_399,54.131832,178349.48,1057820350.0,237550.22,12287.574
+Muscle_Actions_400,24.493004,106660.13,693431400.0,314607.56,9996.488
+Muscle_Actions_401,75.36223,311290.78,2049995800.0,300294.1,26212.244
+Muscle_Actions_402,34.641777,164631.62,1123898800.0,276714.12,18041.174
+Muscle_Actions_403,32.920662,139542.81,997994800.0,173937.95,15427.864
+Muscle_Actions_404,32.16478,131864.03,897380200.0,140004.47,18007.887
+Muscle_Actions_405,14.637954,44559.316,248929540.0,87629.88,8327.237
+Muscle_Actions_406,23.225937,83620.664,581714600.0,123742.82,13802.319
+Muscle_Actions_407,38.53056,140881.66,865294340.0,184280.28,15922.121
+Muscle_Actions_408,8.055864,39815.906,257795710.0,120880.74,6116.2666
+Muscle_Actions_409,2.126799,8191.048,44229736.0,48773.87,3647.0698
+Muscle_Actions_410,37.763298,159440.66,1085060900.0,279906.62,13414.672
+Muscle_Actions_411,31.584581,102334.16,699827400.0,228189.31,8618.187
+Muscle_Actions_412,35.103477,145260.48,906012400.0,163632.11,17514.584
+Muscle_Actions_413,23.226418,59562.535,332448260.0,159849.62,6744.2104
+Muscle_Actions_414,28.118574,92626.09,624886900.0,100918.07,14903.663
+Muscle_Actions_415,19.800838,66083.375,405286460.0,119429.84,10998.605
diff --git a/data/sac/sac_stair_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_stair_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c67310ddc9af15ce8b0346a59405af7a08554c3
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,2.231014467359987,7295.840362049242,28178006.964297518,68364.42066253796,1698.2211552137283
+Physical_Joints_1,3.1962420239757487,5573.162278223827,28459728.996346004,44445.69859049648,1925.770652465502
+Physical_Joints_2,14.687396357565033,56666.97581097739,343828037.14799625,235601.70676003143,4319.2389169926455
+Physical_Joints_3,311.33004249066045,1637506.2874904852,10658412824.193941,372055.40963006637,65353.17590505726
+Physical_Joints_4,1162.5326845427114,4473918.767651067,25197057301.63795,1740464.3088186663,32750.702204695557
+Physical_Joints_5,481.6342731570196,1742499.0748708935,9863366677.332003,616898.1043836008,57454.69670188289
+Physical_Joints_6,385.3893477718557,1422533.3581529583,7836605534.11975,1011508.2148963264,18754.041809031893
+Physical_Joints_7,161.75491498210366,822120.418221753,5216138248.387303,270389.8526946013,45061.418881543366
+Physical_Joints_8,205.3350168918803,550641.2283734586,2937719621.020836,429370.3331755645,20072.73914666557
+Physical_Joints_9,0.037039876144979195,119.06544555044604,259243.33541902996,8199.527347871708,65.00831356528835
+Physical_Joints_10,0.0007942637405570102,2.542586163528211,7842.103241921069,900.656983671763,32.651252539306114
+Physical_Joints_11,155.45781587170637,551737.6949074361,2942234404.894612,603271.430039931,11792.00692391346
+Physical_Joints_12,13.26753157996839,50461.69726461493,285805513.2772913,196198.02426236044,3567.3886969006576
+Physical_Joints_13,5.8305007595605876,31219.37281947515,203005095.99244398,50671.87498876911,8920.563107877819
+Physical_Joints_14,0.3939270627306598,1429.6098480968217,7242310.181306481,22980.53315997806,970.5087040924964
+Physical_Joints_15,15.6796032901451,57929.68994615346,322764085.89159656,205525.95314803094,3853.932352865605
+Physical_Joints_16,10.14799654080252,53086.89809792535,341362306.8368103,67521.49820467673,11557.065173056522
+Physical_Joints_17,0.36151433603271105,962.6651109615017,4634973.354629003,17607.122060547677,820.1612962478072
+Physical_Joints_18,19.20197116647088,71475.93738565124,414934950.3698734,239783.26807214893,4310.526439027317
+Physical_Joints_19,10.439972250756151,54107.00993183628,346484358.0956942,68432.83868632188,11637.876192442023
+Physical_Joints_20,0.240529895471867,641.2037447175221,3109881.2354811,13879.89343071353,668.2569496864949
+Physical_Joints_21,26.071310348656294,100810.30326291939,572210245.939559,278063.36138963664,4955.6569230654195
+Physical_Joints_22,6.112921891716818,31855.49960861421,200421990.45439595,51314.67055762352,8824.821762996156
+Physical_Joints_23,0.23520558627301114,615.4038155782105,2666540.596316484,12771.375319334862,627.5052622696832
+Physical_Joints_24,4.988713422712612,18596.33859850823,95189952.3350033,109932.70242491025,4251.596080150283
+Physical_Joints_25,0.33336087348314736,440.990292308048,2440083.589168605,8203.146653425241,817.1909277633223
+Physical_Joints_26,0.34064660227716675,488.6952222801054,2687064.477275027,8393.467676197326,865.3553874675504
+Physical_Joints_27,4.351510855824715,15265.596594008442,83878007.27595125,94887.68189174884,4170.1164356969475
+Physical_Joints_28,1.7308139028549339,6852.299675479802,29854267.724430587,59366.80157307317,2388.210086543617
+Physical_Joints_29,5.720187409313234,10890.072793210053,59074551.333133556,40469.22356283385,3874.243259075882
+Physical_Joints_30,2.898902474524333,8079.802122981809,41752587.719913386,32139.81616631454,3138.9695087439995
+Physical_Joints_31,2.4027103452238308,7460.298153896866,44529653.96909884,34684.21476020992,3106.2735795684625
+Physical_Joints_32,5.955553541646152,10294.531885366003,55718804.46617613,40225.69180382288,3809.028962581588
+Physical_Joints_33,1.2594038823730718,4033.6554106891217,20823890.88916809,33493.90806839516,2269.6993529427186
+Physical_Joints_34,3.103913084311313,1589.151327699146,4834000.539049163,17123.746349898287,1262.2244743472904
+Physical_Joints_35,25.315857537058502,21631.91840523095,100216815.22501372,53773.080767302934,6130.19048152222
+Physical_Joints_36,3.3564327848992495,2523.5470572764125,6948570.74093963,30255.824966627086,1296.2149259779376
+Physical_Joints_37,403.3018424275212,728236.0357432435,2716589329.2818856,306724.4750091132,29682.916223273434
+Physical_Joints_38,1590.670342894468,5044386.78211964,27556620033.698086,1006003.4217457655,75727.73789549847
+Physical_Joints_39,426.3050005142849,1592477.2683173055,5686574501.037819,693795.8883119094,19577.07225160885
+Physical_Joints_40,650.3504573959386,2773764.150818034,17085698209.756136,1285109.3761901157,56134.20461165811
+Physical_Joints_41,102.01412688918604,456114.4633349016,2687624547.993316,418847.15526726114,15910.433003901038
+Physical_Joints_42,374.93289528134176,956942.6941403224,3132990854.143421,550266.5157609958,15111.232144735277
+Physical_Joints_43,508.34059241252106,1260654.3139867166,6024606016.526723,639786.6954546857,33101.83702676696
+Physical_Joints_44,522.6113325340318,1958976.4891715972,11371516844.27281,649777.7061952369,49443.54526053687
+Physical_Joints_45,1511.4322525262996,4828795.922488171,25651101939.798084,982467.3545489694,68532.56822926686
+Physical_Joints_46,2253.602249523641,6109014.082634429,29293585123.5761,1378881.8447130462,58619.37524654234
+Physical_Joints_47,373.83905803735297,1352263.890309647,7493163922.158727,763339.7591631113,32664.689530881897
+Physical_Joints_48,241.12054869411128,657778.0192594436,3533674557.1390395,532872.8626783903,20044.97975270741
+Physical_Joints_49,1959.2798975038713,10951587.048808064,84677249991.50932,1229009.3245204722,168492.4348613456
+Physical_Joints_50,1093.5191681162146,4329867.681987141,28572010689.803783,1221461.5357731523,87021.14096365785
+Physical_Joints_51,61.66944025153697,169875.34121708342,938531488.9326634,148415.98321490106,18550.705303494105
+Physical_Joints_52,128.52253247861816,433221.8372836175,2607686110.9748564,609652.8543752024,12071.239869382529
+Physical_Joints_53,72.40704759197156,166572.02251490686,829151270.4202018,163555.21797688823,17066.137947669697
+Physical_Joints_54,11.21393213503248,28437.55083025628,129419246.7731855,105710.65538924336,5452.814209866719
+Physical_Joints_55,132.79261566773064,374267.2584991927,2351012538.152799,325964.6172278545,21726.705158865825
+Physical_Joints_56,163.50313434282927,783136.8842904121,4861962924.165947,729056.8922015275,15693.554652313154
+Physical_Joints_57,491.32547739982783,1594318.0983129535,10811712450.247353,1010352.62868313,32321.10375944925
+Physical_Joints_58,259.38704323923434,854259.4198011528,5730241952.769429,440363.8438219415,28093.820980637578
+Physical_Joints_59,328.2249520645971,1645015.942619987,11304441995.523144,1303048.5520382684,22837.219121951868
+Physical_Joints_60,145.24639980136206,626772.6041557654,4068093271.5150456,538782.3836133307,15815.816228467465
+Physical_Joints_61,475.78698145965393,2844141.673837171,22491342796.536057,1302629.6198895613,35667.12016789408
+Physical_Joints_62,200.84283652268468,671956.3865874388,4692910198.428965,695645.7805730553,16190.737487661734
+Physical_Joints_63,1.1983299525122701,5744.714690624402,36469608.50740497,37185.618877099856,2744.632567165096
+Physical_Joints_64,0.2679580727045199,996.4289631503357,3508362.302020951,24404.167680894887,610.7570462842307
+Physical_Joints_65,0.04657837325884695,206.33416738026074,1416703.1348762473,8617.271347558028,528.9874575888217
+Physical_Joints_66,1.1939479523091692,5836.787218014836,37146860.0771642,39911.35861323027,2736.553292854723
+Physical_Joints_67,0.46473530761841153,2003.1609019695102,12025853.983752638,19272.114920334243,1649.7957204354282
+Physical_Joints_68,0.5214880777428208,2050.9399100055703,12532395.521386147,29425.258581504313,1390.5420661141316
+Physical_Joints_69,0.6945951307576121,2624.798789954668,15642272.757227052,32400.07847586949,1842.1513233026183
+Physical_Joints_70,0.5066360857977475,2304.873416085129,14816964.333651217,30698.168510094,1795.622917736915
+Physical_Joints_71,0.6456616312088271,2535.4461289732817,13671389.51416167,31044.441560776497,1516.0957467463738
+Physical_Joints_72,0.6035128595793388,3082.940109537246,16286559.037307829,39493.06492801952,1656.8962815261032
+Physical_Joints_73,2.4083246985083413,886.3741908262842,3019713.5186826047,10276.437156625152,1073.483116537331
+Physical_Joints_74,5.0228161792250186,21557.31005182818,136177225.46323186,146953.63162707802,1924.2609097751683
+Physical_Joints_75,2.6354820983446174,1877.4517919572272,5703009.71599142,28365.05064230285,1159.6415617017728
+Physical_Joints_76,153.93821722646607,503036.76366418955,2653195659.488545,261200.66147999887,26272.90644717921
+Physical_Joints_77,147.45415134038825,817457.2996919311,6084704499.697157,541637.9518369155,39415.96528015698
+Physical_Joints_78,235.76847263675396,1197335.9370995238,7628695490.185742,624426.5807924904,27417.921020521913
+Physical_Joints_79,168.65511359171666,446058.63189703005,2506248918.368046,309514.7165600035,27900.343920313993
+Physical_Joints_80,156.9545627355208,558177.3627705391,3153391194.4133863,392323.0192725533,28658.26150409707
+Physical_Joints_81,527.7654939857432,1338442.6476051498,5466163559.836344,911407.6501044221,13671.784047457813
+Physical_Joints_82,1168.8063409259696,3917969.1257233885,22188576871.355545,1342248.8833760165,42815.09817145835
+Physical_Joints_83,156.93367558570853,675634.1633298985,4789452429.032969,589287.6149873147,18589.163596424285
+Physical_Joints_84,299.818813914287,868373.6008905482,4501125551.177839,641241.8031207877,22881.87910273911
+Physical_Joints_85,522.7787557007471,1237093.2855127836,7750474775.52203,791712.9484552045,26890.180367904926
+Physical_Joints_86,734.3332257221002,2193577.248132715,13980023465.504778,1585280.2073789637,29700.19364951191
+Physical_Joints_87,126.4611968142389,530032.7251644083,3724069492.526651,793402.7615931766,10735.913061948027
+Physical_Joints_88,54.370229719106,184716.92059623142,866917769.3333185,296098.3634872193,8563.550688377974
+Physical_Joints_89,0.8609862888994844,3596.036396303263,23390753.391881473,33432.03392588047,2186.6774236135366
+Physical_Joints_90,19.232638771224583,103074.80512666822,437245996.33829415,330040.3157397061,3259.9467201451494
+Physical_Joints_91,203.98281987612378,663289.4504903505,3386598051.685708,571903.5613741702,15547.315368099667
+Physical_Joints_92,1.6053692988059318,6215.518155577009,28183065.09729101,58431.66643069,1676.9937031619406
+Physical_Joints_93,0.29059466019710445,1053.1153675481862,6550117.450843127,31809.611662178613,737.2593628743494
+Physical_Joints_94,53.58456702912766,295299.4145776106,1253970230.2140455,571972.9272298405,4720.125858799081
+Physical_Joints_95,304.9415679303504,1146217.0785952194,6142341134.563772,1004857.713944756,14063.743417326908
+Physical_Joints_96,5.673411608562659,31102.988722335285,140966935.37317944,182058.29572233887,2381.2568020128483
+Physical_Joints_97,3.8177108686107806,18752.72561427863,82319525.82801591,135189.15477644885,1815.2753904287376
+Physical_Joints_98,4.378716507197449,15200.082053938178,68033599.37692611,68194.33861294779,4033.2002967096305
+Physical_Joints_99,75.73913800970047,218419.9879530213,1022784130.3628103,357123.55726754357,7594.578830449762
+Physical_Joints_100,4.762777898556263,15517.686986815661,64857611.93096248,63395.670807287825,3954.2551323016437
+Physical_Joints_101,5.239517886951002,23866.975809028932,99973560.54400979,143207.07241680793,3119.634395374384
+Physical_Joints_102,5838.459933258411,20797470.449770384,106166538822.91235,3844168.3969686935,51899.92739557066
+Physical_Joints_103,1609.925691568153,7751826.686377653,48914485009.8234,1205508.8950553846,136065.15730864732
+Physical_Joints_104,2856.14552346654,11752880.943035288,69560125180.75664,3371797.58191796,77647.84610712118
+Physical_Joints_105,0.059555342579995264,246.52486720077937,1455154.5964281438,8993.817207227514,543.4609049028411
+Physical_Joints_106,0.2106498205418889,727.8623663362501,1918157.412920123,20550.122414044334,275.1936675476439
+Physical_Joints_107,4519.160095278087,11768106.617324878,46482031119.33716,2088202.565813989,76729.08358202258
+Physical_Joints_108,11.826597051248216,40862.08473080808,113076209.68971698,126291.06217449432,2889.5510841219875
+Physical_Joints_109,256.943642642516,769336.7162527484,1824377680.7788618,581455.2610725707,8823.073226395423
+Physical_Joints_110,1622.6575860365815,7373562.765879139,52462190254.37065,1838616.7047399122,70552.34760795554
+Physical_Joints_111,2672.6843747356393,10127230.421410602,61026279155.653625,1909960.655712084,81914.13053733385
+Physical_Joints_112,1700.204930826481,6096157.155377659,38038460801.573524,1899133.829081131,57167.171541231866
+Physical_Joints_113,6.862972419466231,22021.04945788656,50805027.415779896,104535.71009883007,2002.376600690272
+Physical_Joints_114,10.564119430042988,39368.05638572107,152914756.1776141,118038.45244103389,3952.8841289733073
+Physical_Joints_115,4150.271702342849,10060909.866312012,41179185276.04312,2120710.2418864844,70941.60218948429
+Physical_Joints_116,3390.867264361381,12979622.420733629,68991950600.21068,2750624.331914771,37775.79173460572
+Physical_Joints_117,821.0246811767607,4113637.5768845994,25522977431.751232,576282.8244591906,99171.03849144322
+Physical_Joints_118,1272.5494816295661,2901658.572178578,11708926332.204748,941773.2444842869,41965.78194767808
+Physical_Joints_119,0.07669152246019897,269.29264155578807,1528323.292501948,12249.57017195078,400.441256299411
+Physical_Joints_120,0.022694365719459254,64.7811588155719,314573.27551398176,5390.740203594636,171.4342296578907
+Physical_Joints_121,4746.865534677453,14893338.168214338,75411810445.89604,2864225.7842303826,66619.72433944292
+Physical_Joints_122,12.257520944410446,44386.14513435085,136989141.12206134,131220.9673163811,3068.5458715247446
+Physical_Joints_123,250.43161591769586,778978.2026556976,2275441632.586878,546808.9599096454,9475.804321886075
+Physical_Joints_124,2733.3875035497604,12655667.734934183,72354860048.30847,2954192.5065470017,62097.10539516587
+Physical_Joints_125,1626.4067658129134,4826602.215185228,20462578948.90048,1498280.269264371,42277.449927280366
+Physical_Joints_126,921.795294813005,2337760.9834474693,15353216338.858637,1206943.9534326547,43057.43143289188
+Physical_Joints_127,9.962055945931112,32875.91954964064,82582352.92735407,132342.19154717156,1699.6296139762742
+Physical_Joints_128,11.980431728504549,45207.67352133361,189572552.62430358,116788.52600644292,3314.610648442047
+Physical_Joints_129,4513.801569619353,13400334.394091047,67685121609.12541,2767728.69317903,62757.65392756385
diff --git a/data/sac/sac_stair_checkpoints/best_model.zip b/data/sac/sac_stair_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..bcae558a2bb8d930c18203b69b6d88671916f341
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc950f8fe4958ea670fbcaf48c64c928f08bdf5570909ab1c46b9649b588c4f3
+size 158507890
diff --git a/data/sac/sac_stair_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_stair_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..57a4fc0060e99b07201002773606df0f1fbf8122
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d83fe1f2134ca187057a8fb24112efe24647a90094c679a1b5904df341f872c
+size 257277
diff --git a/data/sac/sac_stair_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_stair_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..eef06df7a9557ee75759f94780fadce6f639d014
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5f6ded607d01ee099995d6adb815c610e86f8431e6ab5fb04114b22a238dfb
+size 421446
diff --git a/data/sac/sac_stair_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_stair_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c5910e8ce30d9d255658694938084014736cac7
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03adf1d3e0e762e136d63892f6a8e56dfaab6f5541e065957de0eae1b24ac920
+size 673631
diff --git a/data/sac/sac_stair_checkpoints/vec_normalize.pkl b/data/sac/sac_stair_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..17420206e0f4885ba9721e01f6034444deb9655a
--- /dev/null
+++ b/data/sac/sac_stair_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9b5ba9ade989eb16f2a7bbcbaf6ded4ca98049dcd180732af92f5be5add40d
+size 305929
diff --git a/data/sac/sac_stair_logs/SAC_1/events.out.tfevents.1778914746.discover-01.2344236.0 b/data/sac/sac_stair_logs/SAC_1/events.out.tfevents.1778914746.discover-01.2344236.0
new file mode 100644
index 0000000000000000000000000000000000000000..508eaef2e09b7837bf2dabc473f0753f5b786ee8
--- /dev/null
+++ b/data/sac/sac_stair_logs/SAC_1/events.out.tfevents.1778914746.discover-01.2344236.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2745a4406be626612dd0bf6d91ee252991fd71125cdd85535880d6240b4eb8eb
+size 33986955
diff --git a/data/sac/sac_stair_logs/eval_logs/evaluations.npz b/data/sac/sac_stair_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80c392df16dd75ff26cfd24b59fbf21101692c3d
--- /dev/null
+++ b/data/sac/sac_stair_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbeac45d56c4d7d1edb5531541e3876006b03bdecf5db2e5d0a1a2a2eb03a7df
+size 70490
diff --git a/data/sac/sac_stepping_stones_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_stepping_stones_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e97670576c25e122235289b3bfa26d897a505965
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,11.43977,65092.97,479550560.0,296248.62,11517.132
+Muscle_Actions_1,3.226687,21058.426,174226610.0,238536.0,3804.2295
+Muscle_Actions_2,9.493395,64162.367,487857920.0,115067.42,12615.195
+Muscle_Actions_3,1.9005911,13558.557,116157140.0,138418.94,4404.8286
+Muscle_Actions_4,12.100692,74339.055,530236130.0,188527.77,12558.353
+Muscle_Actions_5,6.81953,32017.908,252380670.0,285846.53,5909.0737
+Muscle_Actions_6,10.316665,54677.465,362441250.0,255040.97,9712.403
+Muscle_Actions_7,8.594794,41915.195,286460060.0,184169.8,9850.736
+Muscle_Actions_8,6.8184776,24274.463,149381500.0,127366.24,6828.92
+Muscle_Actions_9,12.757372,76560.19,568986800.0,207612.33,14556.851
+Muscle_Actions_10,4.2509637,23492.371,178906420.0,116212.875,7437.9976
+Muscle_Actions_11,12.431291,65681.36,463351230.0,338316.22,10365.203
+Muscle_Actions_12,15.506349,104963.98,807747700.0,203142.25,17627.795
+Muscle_Actions_13,4.942672,32191.396,257028020.0,292789.22,7192.4316
+Muscle_Actions_14,13.310451,74815.19,551922940.0,224443.95,12416.903
+Muscle_Actions_15,7.620707,31642.76,204939680.0,289395.7,5214.7104
+Muscle_Actions_16,1.7412441,8218.498,61988450.0,99374.73,4041.6267
+Muscle_Actions_17,6.394325,38210.273,299378500.0,233164.19,9244.706
+Muscle_Actions_18,18.837963,134528.19,1047190100.0,252506.8,18882.906
+Muscle_Actions_19,8.908417,34036.574,203664620.0,96738.13,7864.9316
+Muscle_Actions_20,3.6790602,18392.605,123829944.0,148865.23,6032.074
+Muscle_Actions_21,14.284445,94363.28,693827400.0,346341.2,13695.266
+Muscle_Actions_22,0.0002486012,0.17360643,809.18964,686.9212,5.237266
+Muscle_Actions_23,0.00018268026,0.13219152,649.3258,634.88635,4.224163
+Muscle_Actions_24,21.758202,145328.55,1127144100.0,175974.75,20095.268
+Muscle_Actions_25,11.417412,72280.61,502293220.0,159235.6,12472.735
+Muscle_Actions_26,9.091406,53573.23,404029700.0,108386.62,12847.326
+Muscle_Actions_27,11.123155,77842.16,643634750.0,340026.5,12260.566
+Muscle_Actions_28,7.828583,49995.48,383162500.0,193507.67,10636.228
+Muscle_Actions_29,27.858583,205666.97,1619447800.0,290177.97,23472.094
+Muscle_Actions_30,6.9435816,40990.477,313787000.0,332747.34,6078.544
+Muscle_Actions_31,13.358409,74529.75,516858240.0,190194.38,12352.03
+Muscle_Actions_32,4.4580793,13688.8125,77979200.0,141927.22,3344.841
+Muscle_Actions_33,7.658703,30553.523,180960900.0,206055.9,6177.846
+Muscle_Actions_34,7.907856,42095.586,290431780.0,199092.03,9453.129
+Muscle_Actions_35,3.6960325,17234.02,121238030.0,160499.56,5646.0493
+Muscle_Actions_36,4.258149,24126.543,188689890.0,245015.0,5141.498
+Muscle_Actions_37,4.802621,26952.473,201029700.0,107225.85,7909.9946
+Muscle_Actions_38,19.264507,120339.35,885981500.0,301785.62,17009.58
+Muscle_Actions_39,10.203484,48048.77,321098080.0,214312.58,9216.242
+Muscle_Actions_40,9.539096,54742.68,377576640.0,354890.7,9142.949
+Muscle_Actions_41,4.0796623,19759.086,138092880.0,112464.23,6665.7603
+Muscle_Actions_42,8.75008,52651.41,398922660.0,230783.27,10359.07
+Muscle_Actions_43,9.986528,47909.344,329093570.0,193522.31,10065.666
+Muscle_Actions_44,8.156747,54909.613,438112770.0,327295.72,9528.783
+Muscle_Actions_45,5.079087,27875.314,202188380.0,104527.234,7891.0825
+Muscle_Actions_46,13.082271,88893.41,656609540.0,251312.17,13651.529
+Muscle_Actions_47,19.890745,109762.9,759979600.0,164429.42,16154.063
+Muscle_Actions_48,2.2095897,12667.423,96049470.0,55924.043,5867.338
+Muscle_Actions_49,9.566099,60844.902,469941280.0,316734.25,9556.036
+Muscle_Actions_50,3.88915,23228.75,186106380.0,212603.52,4719.5146
+Muscle_Actions_51,2.1608577,12885.862,92774780.0,67896.29,6045.71
+Muscle_Actions_52,3.0900757,16110.057,117603460.0,190515.83,4886.821
+Muscle_Actions_53,7.243364,33697.56,236220740.0,109786.16,8592.7295
+Muscle_Actions_54,6.910764,38136.883,284862080.0,264477.0,7581.226
+Muscle_Actions_55,2.2002306,11429.218,83526770.0,65865.1,5465.8384
+Muscle_Actions_56,11.3261175,67187.766,420343800.0,445850.4,7314.2983
+Muscle_Actions_57,8.833174,55872.824,419662000.0,110868.055,11622.468
+Muscle_Actions_58,2.9671185,13068.099,87661310.0,94809.695,5089.9272
+Muscle_Actions_59,2.5227764,12663.299,92065910.0,96174.59,5826.619
+Muscle_Actions_60,6.9038925,38900.426,285962500.0,132423.58,9094.754
+Muscle_Actions_61,9.206162,47576.13,355370800.0,220797.69,12177.079
+Muscle_Actions_62,3.3257873,14427.685,102321976.0,57618.566,5993.8486
+Muscle_Actions_63,4.0927095,15657.177,102468776.0,117940.32,4957.278
+Muscle_Actions_64,13.1284485,78610.64,557345500.0,327084.7,11673.384
+Muscle_Actions_65,19.812046,107010.164,742788350.0,270085.4,15596.999
+Muscle_Actions_66,10.459494,57007.477,405315460.0,209936.81,9692.622
+Muscle_Actions_67,3.1232934,14683.419,103299980.0,162488.0,4856.4727
+Muscle_Actions_68,5.274255,29197.877,213155980.0,116281.06,8497.454
+Muscle_Actions_69,7.5988617,38004.246,248573070.0,167405.48,8172.745
+Muscle_Actions_70,8.142639,33531.45,205584770.0,262752.94,5280.5493
+Muscle_Actions_71,4.6946545,29548.9,201483470.0,304176.78,4779.0386
+Muscle_Actions_72,16.31123,111711.24,840737300.0,135468.42,17906.938
+Muscle_Actions_73,3.0609562,17349.072,111549310.0,209034.06,5105.1367
+Muscle_Actions_74,4.3487744,25814.203,188757490.0,76562.21,8378.213
+Muscle_Actions_75,5.593449,27260.793,228464540.0,225102.45,3031.2698
+Muscle_Actions_76,8.884494,54942.66,398726140.0,160840.77,11210.5625
+Muscle_Actions_77,0.8282533,5397.435,45118184.0,73797.555,3297.8396
+Muscle_Actions_78,2.6771514,8885.766,68171020.0,151903.98,2837.6975
+Muscle_Actions_79,2.8379123,9791.243,59365824.0,183450.83,2263.3132
+Muscle_Actions_80,6.653259,33547.56,231312510.0,155945.6,8713.965
+Muscle_Actions_81,14.617901,95482.69,728915100.0,213133.97,15966.169
+Muscle_Actions_82,6.043777,25296.453,172847060.0,226201.17,3282.7063
+Muscle_Actions_83,10.713221,64772.742,478156740.0,267863.53,11471.821
+Muscle_Actions_84,2.9872437,15679.435,114947300.0,174043.45,4460.385
+Muscle_Actions_85,8.247136,48122.09,342316000.0,279648.6,7301.915
+Muscle_Actions_86,14.646025,89748.32,649281100.0,229478.56,13634.704
+Muscle_Actions_87,14.860047,90823.02,668049500.0,133860.23,14663.533
+Muscle_Actions_88,14.558215,100479.74,797227400.0,471303.75,13254.417
+Muscle_Actions_89,5.3061438,34642.156,258850130.0,187175.81,8464.479
+Muscle_Actions_90,5.5235963,35631.227,255101260.0,229046.64,7141.217
+Muscle_Actions_91,6.4586077,37711.69,284465500.0,251079.8,6656.3013
+Muscle_Actions_92,5.01122,28089.932,202786060.0,93485.25,8335.893
+Muscle_Actions_93,7.769268,53310.137,429128900.0,332718.1,8517.028
+Muscle_Actions_94,10.547495,46431.008,274752500.0,207514.7,7148.1055
+Muscle_Actions_95,3.2707756,12435.369,82569770.0,168823.19,3753.0952
+Muscle_Actions_96,8.295688,47931.66,328461440.0,217884.72,10064.555
+Muscle_Actions_97,7.6757994,42244.28,222025630.0,252781.06,3459.8428
+Muscle_Actions_98,7.054691,49419.11,400162530.0,336236.72,7736.8213
+Muscle_Actions_99,10.957486,55519.176,399516600.0,212186.9,10045.128
+Muscle_Actions_100,7.168747,32221.969,234775580.0,156869.34,7238.4062
+Muscle_Actions_101,6.7771397,29561.973,208359120.0,169617.69,7802.1855
+Muscle_Actions_102,11.247582,67151.836,476809150.0,191743.61,11098.72
+Muscle_Actions_103,11.618443,67273.24,479809470.0,117790.74,13258.98
+Muscle_Actions_104,5.228207,36864.402,313783500.0,305233.84,5829.9614
+Muscle_Actions_105,7.337675,38202.523,266948780.0,290142.97,5988.4917
+Muscle_Actions_106,1.8721912,11181.07,85171896.0,109216.02,4332.6978
+Muscle_Actions_107,9.803422,43286.93,285809540.0,175067.39,10368.398
+Muscle_Actions_108,6.251128,38359.285,298907300.0,72489.74,11672.899
+Muscle_Actions_109,3.3063784,9953.054,61517470.0,95307.98,4226.7236
+Muscle_Actions_110,33.011024,219523.31,1645295700.0,229357.0,24141.182
+Muscle_Actions_111,4.925958,22641.135,145539040.0,154666.36,4989.162
+Muscle_Actions_112,13.008605,77192.44,595596350.0,365522.56,12307.364
+Muscle_Actions_113,8.4400215,49932.938,362563230.0,143752.83,10587.829
+Muscle_Actions_114,6.648469,27414.867,180745490.0,212648.0,6467.778
+Muscle_Actions_115,1.6981809,10296.569,75380740.0,54262.965,5453.8647
+Muscle_Actions_116,13.383215,67074.8,441571400.0,297352.75,9546.552
+Muscle_Actions_117,8.405721,47610.137,363798620.0,228516.28,10248.169
+Muscle_Actions_118,5.460487,28069.727,192774800.0,152824.36,7429.073
+Muscle_Actions_119,7.211244,34505.57,225664240.0,265735.22,6968.243
+Muscle_Actions_120,5.7636027,22543.537,159847900.0,94152.96,7817.1772
+Muscle_Actions_121,7.158455,41420.094,290482750.0,258302.52,7669.0576
+Muscle_Actions_122,12.892219,81779.92,633207040.0,277805.7,14714.036
+Muscle_Actions_123,12.792067,84779.625,653009300.0,128389.94,15000.035
+Muscle_Actions_124,8.953156,57743.426,465065630.0,279123.66,10268.441
+Muscle_Actions_125,8.869038,51348.36,377667970.0,309223.47,9102.708
+Muscle_Actions_126,4.111615,22654.521,149843700.0,237720.05,2003.7396
+Muscle_Actions_127,1.8891778,6650.4346,55834840.0,136984.94,1997.4233
+Muscle_Actions_128,4.0279355,15002.676,99054300.0,158509.3,4706.4604
+Muscle_Actions_129,6.1738944,30878.03,223468860.0,168082.36,7892.635
+Muscle_Actions_130,3.3435416,14312.164,104517740.0,126008.6,5271.474
+Muscle_Actions_131,2.7210274,14376.488,111912136.0,58138.668,7168.4023
+Muscle_Actions_132,9.232967,42149.406,250918060.0,260276.11,6396.1914
+Muscle_Actions_133,9.758052,52488.01,356980700.0,203255.2,10198.824
+Muscle_Actions_134,11.334184,68590.82,484485730.0,368025.97,10128.252
+Muscle_Actions_135,7.8068743,47329.78,335770430.0,143511.23,9864.792
+Muscle_Actions_136,3.4576542,14400.856,105703550.0,157424.23,2616.4668
+Muscle_Actions_137,2.2395673,9118.182,65779340.0,107305.734,3892.0327
+Muscle_Actions_138,3.8098478,21360.99,160795800.0,175976.52,6080.644
+Muscle_Actions_139,13.073022,69497.94,474023970.0,267064.06,11198.356
+Muscle_Actions_140,6.158702,34622.48,251079410.0,146300.16,9397.715
+Muscle_Actions_141,6.7924848,38313.76,308292320.0,271966.28,4493.448
+Muscle_Actions_142,4.8353167,34653.44,281166980.0,302102.03,5212.52
+Muscle_Actions_143,7.92072,45436.684,313282460.0,189848.23,10149.275
+Muscle_Actions_144,19.93896,123767.195,867918660.0,137550.95,17590.008
+Muscle_Actions_145,6.4790697,33427.27,236716660.0,142871.45,9100.007
+Muscle_Actions_146,4.16484,25821.385,212026600.0,280082.5,5042.3726
+Muscle_Actions_147,8.652499,57033.2,478768860.0,376915.1,8330.895
+Muscle_Actions_148,7.2382693,50644.305,434103260.0,280847.06,8724.046
+Muscle_Actions_149,8.855734,42754.65,302843650.0,165983.73,9922.338
+Muscle_Actions_150,7.2375193,33110.51,225928660.0,185148.34,6299.808
+Muscle_Actions_151,9.600993,55855.363,381760580.0,260096.19,9447.714
+Muscle_Actions_152,5.251206,32829.266,221637420.0,223522.61,8708.729
+Muscle_Actions_153,15.0453615,86449.85,564044400.0,408765.0,8111.4624
+Muscle_Actions_154,23.06049,148742.5,1064831700.0,230709.58,19592.893
+Muscle_Actions_155,14.844573,90143.61,670049540.0,284023.66,14067.406
+Muscle_Actions_156,8.629289,51476.805,369401470.0,224738.95,9096.082
+Muscle_Actions_157,6.8344274,43297.566,345615520.0,138845.0,11431.162
+Muscle_Actions_158,7.9251375,51488.016,401478460.0,212088.3,9954.984
+Muscle_Actions_159,14.587539,99900.0,823262850.0,493871.4,10967.288
+Muscle_Actions_160,8.9509,43301.62,273271520.0,210926.12,9076.297
+Muscle_Actions_161,10.497634,64672.785,434901900.0,273602.94,10576.488
+Muscle_Actions_162,7.467668,37744.258,281608030.0,284576.56,6682.1187
+Muscle_Actions_163,2.81147,9946.303,69617960.0,167474.6,3146.3367
+Muscle_Actions_164,9.857264,55750.77,377826270.0,265073.06,8572.583
+Muscle_Actions_165,4.3746786,16806.742,99766104.0,96316.46,5662.9424
+Muscle_Actions_166,8.967062,49188.035,337505380.0,247388.66,10500.945
+Muscle_Actions_167,6.9289565,41710.113,252159340.0,301847.28,6547.2485
+Muscle_Actions_168,8.680548,47158.387,347870530.0,161076.81,10315.753
+Muscle_Actions_169,4.281465,22904.09,152296770.0,174586.66,6537.6963
+Muscle_Actions_170,6.474607,23897.209,144667220.0,183171.88,6165.2227
+Muscle_Actions_171,7.9875207,45910.56,343813300.0,169145.11,10858.181
+Muscle_Actions_172,12.806624,80201.07,565465800.0,212597.34,13566.45
+Muscle_Actions_173,26.411404,171607.52,1217161200.0,204682.38,21224.607
+Muscle_Actions_174,10.818408,61943.62,467273000.0,252285.75,10996.685
+Muscle_Actions_175,7.43991,40855.61,305154020.0,218916.45,9466.786
+Muscle_Actions_176,7.6156387,35218.76,227652700.0,182556.36,6871.7695
+Muscle_Actions_177,10.932321,63010.48,421327040.0,228421.42,10109.032
+Muscle_Actions_178,7.611219,40869.85,264879060.0,158936.36,8850.687
+Muscle_Actions_179,7.919872,35242.918,222978770.0,249375.8,7680.267
+Muscle_Actions_180,13.802689,93632.35,697227200.0,334279.4,13392.235
+Muscle_Actions_181,9.605924,62348.65,450455870.0,96150.336,12321.484
+Muscle_Actions_182,7.9001427,46147.293,336296740.0,185116.69,9259.478
+Muscle_Actions_183,5.8971796,37391.992,283528220.0,105993.945,10391.622
+Muscle_Actions_184,3.751459,13583.41,96464880.0,216686.08,3426.512
+Muscle_Actions_185,6.52674,37652.22,282084860.0,147202.48,10267.951
+Muscle_Actions_186,25.437635,167959.95,1245279400.0,234738.94,21286.31
+Muscle_Actions_187,6.9958425,26950.64,184988660.0,171154.17,7883.9937
+Muscle_Actions_188,12.63582,59214.2,426215650.0,290974.6,11676.232
+Muscle_Actions_189,7.7755637,38665.492,265530020.0,186299.11,9555.89
+Muscle_Actions_190,11.4646,65749.65,453974660.0,181639.33,11824.706
+Muscle_Actions_191,2.9159303,16460.291,129292160.0,215696.25,3844.6133
+Muscle_Actions_192,8.450065,51718.453,320275650.0,376544.0,7566.816
+Muscle_Actions_193,7.8577323,42642.38,331025340.0,291608.8,8120.957
+Muscle_Actions_194,22.951256,123379.73,860387140.0,357083.12,14422.402
+Muscle_Actions_195,4.700658,29454.55,230268670.0,167012.66,8761.395
+Muscle_Actions_196,11.930881,70280.53,495577920.0,190693.28,13475.358
+Muscle_Actions_197,9.064822,54440.676,403039970.0,197973.58,10697.874
+Muscle_Actions_198,9.458855,36998.254,203789360.0,172348.73,7282.293
+Muscle_Actions_199,13.393189,66808.31,473504800.0,289570.78,11691.748
+Muscle_Actions_200,7.8812585,52576.57,439239040.0,320273.22,8712.387
+Muscle_Actions_201,7.008655,39532.215,314435940.0,212528.16,8454.829
+Muscle_Actions_202,23.945517,134385.77,953383700.0,308418.7,18318.805
+Muscle_Actions_203,4.0683827,19177.303,141457180.0,183945.58,3088.6575
+Muscle_Actions_204,2.4444022,11914.379,81519230.0,89656.65,4911.768
+Muscle_Actions_205,13.507245,83593.44,599606340.0,172317.62,14960.06
+Muscle_Actions_206,5.3264437,29962.973,223201170.0,198709.94,7758.908
+Muscle_Actions_207,6.8791943,31562.525,219097570.0,158916.8,8556.251
+Muscle_Actions_208,11.946321,81198.54,667537200.0,279257.0,14152.071
+Muscle_Actions_209,6.551016,29260.004,216137800.0,146546.88,8063.9126
+Muscle_Actions_210,23.529663,155401.92,1160502400.0,149863.88,21377.752
+Muscle_Actions_211,9.064901,48863.13,340827400.0,247858.58,9951.028
+Muscle_Actions_212,6.985336,39110.793,287461570.0,141956.36,10062.51
+Muscle_Actions_213,12.197259,70404.7,522868960.0,293990.5,13068.166
+Muscle_Actions_214,29.612694,209992.1,1628292100.0,216315.52,25121.082
+Muscle_Actions_215,12.238175,53799.336,340231870.0,288712.88,8643.8125
+Muscle_Actions_216,15.595637,98999.61,784751500.0,361299.7,14137.896
+Muscle_Actions_217,9.300601,60423.973,458345540.0,192306.28,11749.393
+Muscle_Actions_218,15.541472,89736.74,648027700.0,357419.3,13608.498
+Muscle_Actions_219,11.554538,62815.64,438072640.0,156881.62,11389.149
+Muscle_Actions_220,9.818282,49127.39,350960130.0,336984.56,8983.027
+Muscle_Actions_221,10.742311,55480.46,382916640.0,195629.45,12074.551
+Muscle_Actions_222,43.645767,295642.12,2142907800.0,411730.6,27415.955
+Muscle_Actions_223,0.0016295856,1.0663103,821.0704,356.1005,12.107192
+Muscle_Actions_224,7.8022175,18142.76,42493308.0,205741.77,219.59209
+Muscle_Actions_225,7.796058,18288.236,43144330.0,207326.78,219.61012
+Muscle_Actions_226,7.421133,28161.271,179006000.0,205091.45,4123.0034
+Muscle_Actions_227,19.379637,115888.81,826847400.0,196171.31,14522.151
+Muscle_Actions_228,12.278123,77145.56,556663940.0,276000.9,12181.393
+Muscle_Actions_229,13.481962,86940.625,615223100.0,111353.67,16017.684
+Muscle_Actions_230,10.139057,69394.01,540641540.0,195299.27,13106.922
+Muscle_Actions_231,5.441701,33161.098,239040540.0,133886.0,9267.3955
+Muscle_Actions_232,4.3041368,26090.29,205929070.0,116079.72,7963.712
+Muscle_Actions_233,13.926835,94154.516,737188160.0,336356.8,12818.11
+Muscle_Actions_234,3.3770206,15106.302,106616630.0,89651.72,6250.1445
+Muscle_Actions_235,3.9143188,15632.482,110172280.0,160994.25,4943.443
+Muscle_Actions_236,0.00283871,1.4940431,4529.2476,1339.0109,24.99195
+Muscle_Actions_237,4.4708195,17131.098,110955440.0,80083.06,6130.8394
+Muscle_Actions_238,2.5335886,6519.6855,42863550.0,45234.902,4146.0254
+Muscle_Actions_239,13.383733,77462.35,558056000.0,267847.6,13414.622
+Muscle_Actions_240,10.112485,42411.406,275351500.0,109693.92,10020.539
+Muscle_Actions_241,0.0014347604,1.1227292,751.2142,648.4389,4.777593
+Muscle_Actions_242,9.830369,40872.766,258787940.0,285809.12,6215.8247
+Muscle_Actions_243,138.60162,998786.2,7500963300.0,558911.2,49754.625
+Muscle_Actions_244,12.436354,74363.11,493229500.0,198398.17,12762.27
+Muscle_Actions_245,5.6427584,22610.207,155818290.0,314907.06,3257.3755
+Muscle_Actions_246,5.874905,24398.139,174532480.0,279717.53,4019.044
+Muscle_Actions_247,19.997282,123714.83,942930300.0,499586.8,14115.374
+Muscle_Actions_248,113.918236,779373.06,5678286000.0,443530.66,48649.96
+Muscle_Actions_249,21.372494,146152.05,1073306240.0,355235.03,18773.52
+Muscle_Actions_250,5.4448185,27878.549,191802540.0,243743.86,5915.994
+Muscle_Actions_251,38.411102,278096.44,2120494600.0,268829.8,27085.85
+Muscle_Actions_252,18.642899,125249.125,949903100.0,244737.36,17323.05
+Muscle_Actions_253,8.779875,54987.727,407027360.0,142825.34,12983.456
+Muscle_Actions_254,42.704304,299570.62,2247999200.0,280151.72,25823.33
+Muscle_Actions_255,2.3780737,12409.098,92321430.0,53695.016,5575.5347
+Muscle_Actions_256,8.965777,61881.25,474142940.0,152660.9,12994.68
+Muscle_Actions_257,12.243327,71680.51,519993800.0,267853.1,11065.881
+Muscle_Actions_258,4.9825106,18366.2,118622670.0,236403.31,4990.0713
+Muscle_Actions_259,3.1125681,15274.32,114386720.0,115846.77,5910.0957
+Muscle_Actions_260,4.13062,23783.104,175038030.0,69653.77,7917.2075
+Muscle_Actions_261,10.13687,62385.996,481741250.0,204340.77,12238.809
+Muscle_Actions_262,11.265038,75711.48,575459200.0,122546.39,15801.581
+Muscle_Actions_263,0.00010554285,0.08760245,399.25027,516.18365,4.732004
+Muscle_Actions_264,0.00050286524,0.25990447,493.55768,495.56793,4.737898
+Muscle_Actions_265,0.0018447606,1.6737717,1397.8317,992.1193,5.836328
+Muscle_Actions_266,7.6787357,17704.29,41043430.0,202161.05,216.75638
+Muscle_Actions_267,21.192621,155956.52,1223649200.0,234891.3,20102.625
+Muscle_Actions_268,9.319733,56658.844,428014370.0,211360.75,10907.734
+Muscle_Actions_269,10.867717,63283.832,470291900.0,290202.72,12892.256
+Muscle_Actions_270,8.096783,53798.402,395170300.0,115601.64,11428.431
+Muscle_Actions_271,4.316872,30944.797,249811410.0,194316.17,8274.376
+Muscle_Actions_272,14.595298,92972.0,685515460.0,180300.3,15013.067
+Muscle_Actions_273,10.163429,47774.348,292887650.0,244036.92,7560.0107
+Muscle_Actions_274,11.0241165,71968.53,542812350.0,131072.3,14384.116
+Muscle_Actions_275,2.5745735,12864.185,85425260.0,96279.195,5323.212
+Muscle_Actions_276,0.0016326328,0.9386164,2060.1023,556.27527,21.430977
+Muscle_Actions_277,9.793629,41259.477,297383000.0,222532.58,8647.645
+Muscle_Actions_278,8.804411,50489.992,350757470.0,192514.42,10642.581
+Muscle_Actions_279,19.211714,115743.52,819950200.0,376260.7,14947.695
+Muscle_Actions_280,9.723787,41506.594,298112540.0,155103.83,10361.359
+Muscle_Actions_281,30.758602,205359.48,1499938200.0,248719.45,22505.395
+Muscle_Actions_282,6.8223963,36017.28,267263940.0,245664.27,7769.8037
+Muscle_Actions_283,0.00021540177,0.31610432,1709.584,652.23126,20.557636
+Muscle_Actions_284,8.342446,43885.01,319901220.0,225177.38,9262.138
+Muscle_Actions_285,0.00012928761,0.07024732,263.0136,411.54028,3.4340951
+Muscle_Actions_286,12.454337,76686.48,606926800.0,363795.88,13347.265
+Muscle_Actions_287,33.208668,215491.34,1555554800.0,228897.52,22301.361
+Muscle_Actions_288,157.92169,1114001.0,8209521000.0,466452.22,52809.117
+Muscle_Actions_289,25.470991,161760.42,1184804600.0,255846.69,20625.475
+Muscle_Actions_290,7.488431,23277.719,123468280.0,296607.56,2089.6978
+Muscle_Actions_291,8.266202,34172.086,245972130.0,141340.0,9130.487
+Muscle_Actions_292,8.309584,56789.074,419081180.0,258675.78,10812.025
+Muscle_Actions_293,7.7037544,29207.467,197533900.0,186908.81,7670.112
+Muscle_Actions_294,11.010726,75297.33,564939800.0,264863.2,12909.014
+Muscle_Actions_295,3.5942512,15188.353,115963630.0,106034.74,5967.1226
+Muscle_Actions_296,6.9989696,48865.69,379764580.0,245174.27,9460.856
+Muscle_Actions_297,5.1284413,19915.031,113644980.0,161478.86,5052.721
+Muscle_Actions_298,8.112593,54459.64,398114080.0,115086.88,11436.697
+Muscle_Actions_299,5.2106857,24114.121,160895040.0,104839.49,7527.1045
+Muscle_Actions_300,5.0274954,23011.898,149379360.0,194205.77,3605.9756
+Muscle_Actions_301,5.76901,38594.71,303147700.0,196556.34,9674.88
+Muscle_Actions_302,9.131907,60163.824,438950460.0,187973.45,11628.033
+Muscle_Actions_303,6.251165,30509.623,204836050.0,179080.56,7700.871
+Muscle_Actions_304,5.1783338,20071.291,139528850.0,105707.81,5895.5137
+Muscle_Actions_305,0.00032449997,0.19835465,400.03244,315.845,6.9453597
+Muscle_Actions_306,12.385492,79204.79,587861440.0,125190.52,15258.542
+Muscle_Actions_307,6.616698,21206.938,125785680.0,220115.98,2031.7891
+Muscle_Actions_308,11.888209,66016.88,463860350.0,222420.64,11544.294
+Muscle_Actions_309,3.3654933,16914.785,102989360.0,251235.72,1010.3275
+Muscle_Actions_310,7.329847,42138.7,308072060.0,207030.86,9900.725
+Muscle_Actions_311,10.781553,69407.59,543928200.0,370932.5,10305.521
+Muscle_Actions_312,4.804587,20737.844,149516160.0,210516.08,2290.1565
+Muscle_Actions_313,3.2695053,21165.139,160980180.0,141451.72,6935.2715
+Muscle_Actions_314,4.875829,32859.426,257049230.0,163265.67,9165.02
+Muscle_Actions_315,9.859567,69470.03,570983230.0,235653.36,12621.423
+Muscle_Actions_316,1.760606,8919.6455,59833692.0,54017.156,4759.431
+Muscle_Actions_317,0.95621186,6526.2295,48926900.0,40221.133,4057.3665
+Muscle_Actions_318,12.472617,68020.516,476823900.0,232923.62,12659.986
+Muscle_Actions_319,11.648914,74311.625,579426370.0,351037.38,11259.794
+Muscle_Actions_320,7.0523486,32929.33,198784030.0,283320.12,1194.5753
+Muscle_Actions_321,2.070693,13167.96,105539770.0,131068.99,4831.926
+Muscle_Actions_322,0.7394956,4948.476,38717796.0,41475.01,3527.9817
+Muscle_Actions_323,5.552812,28763.025,205264750.0,84664.5,8685.653
+Muscle_Actions_324,0.0019540547,7.901756,60101.594,1776.3898,140.17456
+Muscle_Actions_325,11.537759,69474.28,549351230.0,290912.16,12264.023
+Muscle_Actions_326,5.0600085,30256.393,151797260.0,362582.22,2012.7837
+Muscle_Actions_327,5.761423,23581.723,130336960.0,199441.52,3679.3396
+Muscle_Actions_328,0.0061906264,29.668015,201877.73,4578.978,259.01633
+Muscle_Actions_329,0.30490926,2207.1733,18083276.0,20530.701,2784.9463
+Muscle_Actions_330,9.168316,44027.902,293741100.0,287566.88,6698.733
+Muscle_Actions_331,6.9955187,16762.05,40431970.0,200751.6,210.59958
+Muscle_Actions_332,0.0006860629,0.39319956,701.9113,640.288,5.032078
+Muscle_Actions_333,5.389793,22356.824,161735550.0,101491.21,6504.7524
+Muscle_Actions_334,2.0774095,12258.682,87606344.0,61957.195,5682.0405
+Muscle_Actions_335,2.757932,13887.343,112107070.0,169850.98,4434.4214
+Muscle_Actions_336,4.5359187,24035.697,185168740.0,88587.43,8599.2295
+Muscle_Actions_337,5.101584,30960.756,231435200.0,169528.33,8120.3403
+Muscle_Actions_338,0.00096378784,2.0186138,12201.236,908.114,59.843872
+Muscle_Actions_339,1.3235644,8329.072,61040548.0,45435.086,4383.8276
+Muscle_Actions_340,0.014113964,53.83368,354800.7,7731.08,350.34167
+Muscle_Actions_341,14.823399,85538.82,595419100.0,144957.33,14474.497
+Muscle_Actions_342,4.44998,22824.44,179288860.0,175634.02,5828.4717
+Muscle_Actions_343,7.2312026,43354.45,344264830.0,281012.12,9030.78
+Muscle_Actions_344,7.230606,39908.7,296467330.0,229556.44,7472.7227
+Muscle_Actions_345,6.8843446,35873.785,231054460.0,214787.7,5044.101
+Muscle_Actions_346,10.380117,73143.48,587898600.0,340950.5,10765.994
+Muscle_Actions_347,7.3119316,51400.855,401459500.0,100165.086,11724.126
+Muscle_Actions_348,5.5790806,33108.703,273387100.0,276770.88,3670.807
+Muscle_Actions_349,7.2171407,38535.785,277991580.0,200296.88,8566.478
+Muscle_Actions_350,3.81582,14688.423,102028930.0,135209.58,2413.1167
+Muscle_Actions_351,15.53534,93606.984,686446200.0,134070.8,16633.426
+Muscle_Actions_352,3.2440426,15851.59,104092080.0,156700.22,3945.0015
+Muscle_Actions_353,18.122257,96884.805,665737150.0,271313.94,13886.58
+Muscle_Actions_354,12.588429,62954.87,478386000.0,316461.75,9609.096
+Muscle_Actions_355,14.0388365,86082.83,597552800.0,145893.03,14791.123
+Muscle_Actions_356,5.9141335,33757.562,242646350.0,226377.88,5131.184
+Muscle_Actions_357,0.5051845,2953.9976,21066512.0,32254.592,2530.2595
+Muscle_Actions_358,6.8246374,44214.33,319124450.0,91748.85,10945.8125
+Muscle_Actions_359,15.762427,95305.1,757531100.0,375824.62,11743.1
+Muscle_Actions_360,11.831039,72728.7,555201300.0,230944.02,13113.725
+Muscle_Actions_361,12.522092,66570.49,472664400.0,257194.02,11140.871
+Muscle_Actions_362,44.81142,298287.44,2131642400.0,334740.1,26693.094
+Muscle_Actions_363,6.122409,36119.094,269844860.0,160380.88,9480.437
+Muscle_Actions_364,8.889449,49517.04,365139870.0,235164.36,9075.6045
+Muscle_Actions_365,6.8522196,39601.605,285849570.0,386480.56,4745.345
+Muscle_Actions_366,12.774962,78678.82,562386500.0,333604.94,12747.078
+Muscle_Actions_367,9.855144,52829.56,396236030.0,249107.92,8795.558
+Muscle_Actions_368,3.6909192,8958.14,46389924.0,148192.64,1536.9293
+Muscle_Actions_369,9.235803,51369.273,377009060.0,229305.11,9479.653
+Muscle_Actions_370,14.750397,72025.03,504256030.0,319846.44,11320.403
+Muscle_Actions_371,10.92324,70136.17,499773900.0,270160.88,11640.336
+Muscle_Actions_372,0.083124064,525.52295,4249167.0,15961.603,1281.9482
+Muscle_Actions_373,5.1388288,25280.463,179796210.0,121055.695,7644.08
+Muscle_Actions_374,8.546988,40909.527,287839550.0,102741.97,9682.227
+Muscle_Actions_375,9.006228,49168.902,350179420.0,201461.22,9968.64
+Muscle_Actions_376,8.069135,44426.81,313623700.0,133451.05,9287.0205
+Muscle_Actions_377,13.600635,91739.51,746372600.0,418399.4,8936.963
+Muscle_Actions_378,14.649196,95516.56,716518000.0,214912.64,15470.947
+Muscle_Actions_379,1.3352445,8844.335,66197548.0,48485.04,4903.913
+Muscle_Actions_380,1.0576267,7192.2373,53926140.0,37988.7,4324.757
+Muscle_Actions_381,0.18265432,930.2902,6988001.5,25284.395,1540.8235
+Muscle_Actions_382,3.5929086,20342.588,152083800.0,111222.586,7385.683
+Muscle_Actions_383,0.05118641,300.2606,2313337.0,7759.5415,988.1671
+Muscle_Actions_384,4.206425,23350.08,181673900.0,89656.18,8459.001
+Muscle_Actions_385,2.7138486,16409.852,123889816.0,148021.7,6570.155
+Muscle_Actions_386,9.818413,61259.57,466500380.0,319106.62,8053.3804
+Muscle_Actions_387,0.52504694,3362.1213,26188982.0,41424.453,3091.1243
+Muscle_Actions_388,3.2408829,14154.141,89895690.0,209376.31,2447.6345
+Muscle_Actions_389,1.5748864,7866.431,60273212.0,143046.88,2873.0422
+Muscle_Actions_390,4.6166086,22505.559,163859740.0,138967.8,6801.8223
+Muscle_Actions_391,5.2330446,20050.525,129425140.0,239712.72,2911.5125
+Muscle_Actions_392,7.4977884,41662.86,311595900.0,351677.44,4662.0024
+Muscle_Actions_393,0.58363044,2772.2158,20721958.0,49744.137,2585.4434
+Muscle_Actions_394,7.2359467,49685.94,394738800.0,172594.16,11859.07
+Muscle_Actions_395,17.808878,115062.64,834924000.0,352771.03,15454.199
+Muscle_Actions_396,7.9396996,40507.367,311139600.0,334443.88,6204.055
+Muscle_Actions_397,14.388657,94571.31,749065900.0,465264.1,10662.607
+Muscle_Actions_398,17.409952,105983.82,753792500.0,172309.55,15958.641
+Muscle_Actions_399,5.7685966,16134.243,112655250.0,129150.9,5104.539
+Muscle_Actions_400,15.645972,82475.12,602459900.0,155482.2,13431.087
+Muscle_Actions_401,4.0362473,18401.506,146938160.0,229625.23,4833.69
+Muscle_Actions_402,5.4274397,26744.984,188593900.0,160991.77,7481.3853
+Muscle_Actions_403,0.7883816,4485.513,33100798.0,24746.082,3918.6606
+Muscle_Actions_404,6.110834,38177.855,300613060.0,317225.7,5982.357
+Muscle_Actions_405,10.776893,70531.09,532005500.0,151485.27,13701.699
+Muscle_Actions_406,7.5095377,46823.855,328750530.0,246062.02,6349.465
+Muscle_Actions_407,6.3893685,41216.055,308097660.0,275203.12,8611.642
+Muscle_Actions_408,0.23575114,1274.4552,9141772.0,51616.855,1489.8552
+Muscle_Actions_409,6.722486,27975.463,191257870.0,162313.67,8411.254
+Muscle_Actions_410,4.5805945,12160.374,67291280.0,96230.0,4015.93
+Muscle_Actions_411,4.7284307,19399.992,130173720.0,223951.75,5162.7744
+Muscle_Actions_412,7.7088366,47233.652,344217800.0,184921.98,9827.265
+Muscle_Actions_413,6.251019,36041.96,259490930.0,226723.19,8103.355
+Muscle_Actions_414,6.8681283,42835.926,309191330.0,262727.44,7224.204
+Muscle_Actions_415,4.23665,17672.477,125527590.0,111160.85,5875.814
diff --git a/data/sac/sac_stepping_stones_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_stepping_stones_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5deb5d2b0cdd294b71fa73cd5f3dcab0e7098ee8
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,0.7079360702027857,1589.98151411442,4996725.223321368,42377.85777626987,895.0120328678903
+Physical_Joints_1,0.8140780882909233,4795.551172871323,33552029.749160178,72979.48286084249,2859.2772076672454
+Physical_Joints_2,3.760075339480884,5584.528363748336,20640373.14377104,82898.41761673149,1749.5173191028505
+Physical_Joints_3,191.97434001200705,932332.6978433949,6047295782.80099,636363.1304391068,44896.73375789558
+Physical_Joints_4,286.7389123764371,631554.0214067859,2525276408.9577017,1134267.9764274964,19412.3401412484
+Physical_Joints_5,138.51181344746007,814420.0825203101,5639969803.18349,873988.0109530026,35140.09983812607
+Physical_Joints_6,89.80120223859332,186209.58299726297,698124074.2644856,570878.7745023612,10364.882978709824
+Physical_Joints_7,75.63619647813536,375385.5498820315,2425822431.3503885,371580.8305224081,28743.0260470336
+Physical_Joints_8,71.15699165875985,420106.2655018539,2922377788.685093,866240.8835635453,22685.81780081152
+Physical_Joints_9,0.014230087123367536,5.430711016759652,5684.02546376648,1295.5222110506566,32.40851051366713
+Physical_Joints_10,0.11085518196941321,41.64320538794934,17677.39095441546,2713.9405597783643,39.385874356517306
+Physical_Joints_11,36.79467845050582,74962.74349099663,278173233.87746024,366335.144291729,6380.920178328482
+Physical_Joints_12,3.018415226262137,6602.124145414675,25930370.53146484,106229.63808227346,2093.9322231390247
+Physical_Joints_13,2.602663948559593,14005.533662563535,92974211.0800889,72065.71712248593,5633.572766340154
+Physical_Joints_14,0.21753518610061157,884.0357672598976,6178182.145566543,41255.9081673875,1068.8110152194633
+Physical_Joints_15,3.2576710555256447,7403.5152078430065,29746667.24305101,115476.72213450244,2206.3371109729906
+Physical_Joints_16,4.656123724937396,23727.463347425215,154769473.7808482,94131.2455511246,7258.827871240822
+Physical_Joints_17,0.15448605800656964,704.791901776576,4828934.352665678,34569.402098801875,931.5639795091364
+Physical_Joints_18,4.447790682350131,9615.737352299358,36632148.72090965,129360.37888546546,2416.576114271308
+Physical_Joints_19,4.970283748211768,24309.97009296315,157065624.33556238,94806.18328157454,7310.469828100146
+Physical_Joints_20,0.1250140236089879,473.45306550590146,3185359.2575915083,27863.537751980184,754.648473266401
+Physical_Joints_21,6.111230686790897,12279.559818625892,43556662.107649215,141371.10563294208,2621.516822644243
+Physical_Joints_22,2.7839042934686775,13803.801185250326,89463638.91029406,71355.2951665608,5516.797636107133
+Physical_Joints_23,0.08163064914774347,395.6395973580707,2732050.3683759975,26397.172120800155,698.7355386948739
+Physical_Joints_24,1.3223628663398836,4126.967243866989,16046607.666722683,86981.48397051379,1053.4672599513535
+Physical_Joints_25,0.13847204609781377,422.7875347505797,3192168.8225387484,40390.79629171611,350.30606977818996
+Physical_Joints_26,0.14623887168259325,404.50671060267877,3014848.410781272,39224.29056803826,336.76540882928816
+Physical_Joints_27,1.3674366690078354,4261.232435941434,15961662.109236473,85188.80532408656,1051.4266964089013
+Physical_Joints_28,0.45451964578555015,1790.5691439482384,7285729.731241316,44601.24599854941,585.1172695078136
+Physical_Joints_29,2.398590363287541,6509.820125488624,35411201.12440912,116128.27998901799,915.0227510453734
+Physical_Joints_30,1.1209567327778864,5553.049304085004,38370320.524866186,126520.79262784054,730.3884355102423
+Physical_Joints_31,1.232391885624999,5483.996539323391,39754788.983437754,129481.13313273602,797.5346661667978
+Physical_Joints_32,2.398232166708312,6446.871293674316,35324621.731594816,116147.77447006565,870.0740126193787
+Physical_Joints_33,0.4260058976384531,1653.0376196137427,7247613.135437046,45650.806183402194,607.1957871948977
+Physical_Joints_34,0.7376374205759101,235.2965528640469,976918.4125709048,10638.525950043126,513.640563822807
+Physical_Joints_35,9.990861308474132,11186.384402687672,48695878.257931516,129897.64149945785,2260.937848385553
+Physical_Joints_36,0.7591090792349806,224.89305392261195,889150.04127737,9667.643545094503,507.5554589705329
+Physical_Joints_37,101.54130042694194,179321.29982806617,1009249711.6625262,511493.57821517606,10563.382404905486
+Physical_Joints_38,776.0371843195247,2708554.616603532,16598315783.398424,3052466.8898185496,13512.891115677146
+Physical_Joints_39,213.30918177289135,680983.0047038401,4894871616.124003,1036103.9331199253,9449.052810623045
+Physical_Joints_40,191.10396169090401,976976.4886194833,6458538299.529251,1566704.7084184443,10233.283065790021
+Physical_Joints_41,20.156093915817298,105052.97490185317,850641594.8677071,510582.24709709414,6898.6497722683835
+Physical_Joints_42,116.44593735415428,515558.88281148043,3461734944.819655,431625.8098637414,34545.586981800596
+Physical_Joints_43,106.4021929793512,378617.45726635394,2027425138.4009376,763234.309842289,6408.707249514113
+Physical_Joints_44,77.60017859305098,365466.60615260474,2732519458.393066,865834.5314588144,9873.081537724725
+Physical_Joints_45,120.8276030080928,189749.02139672657,783983085.3406024,516370.0778439159,5711.075285154593
+Physical_Joints_46,648.6404919093311,1821003.9873748822,5579517828.969791,2267229.7777829734,4263.799347606243
+Physical_Joints_47,92.99628387517635,376753.93985937873,2013474505.0690486,1176626.2372065396,6089.987453918534
+Physical_Joints_48,44.557530833949954,162918.39428448916,872313827.2353213,585005.6298096287,4467.676412522931
+Physical_Joints_49,66.62078816024263,234784.74203748564,1376600923.8397527,777668.162065941,5296.946189116867
+Physical_Joints_50,23.086973549747537,97665.88676791586,543042225.1456974,600047.9798951909,3146.350289280842
+Physical_Joints_51,8.91741944681738,53677.29402130511,437415624.43158567,455886.2863487784,3477.3795153458573
+Physical_Joints_52,34.045070242846926,91104.71433813861,312036197.06390357,367199.51122832415,2171.052788421336
+Physical_Joints_53,314.0429631861748,1444635.212125031,9370478861.080978,2507779.421851525,8823.616828828284
+Physical_Joints_54,47.86736286747356,272925.24117544596,2026244297.480955,1103528.6758378248,3757.9665725628624
+Physical_Joints_55,4.030854686802138,16377.423373702932,116377514.70210104,169568.91852470904,5426.939169721784
+Physical_Joints_56,55.963693936671795,203761.14967151696,1113504175.3892665,805306.3356023658,4581.403135110747
+Physical_Joints_57,10.041986918243888,43908.886705548626,269288052.7403396,282472.0280876728,5715.3779173440935
+Physical_Joints_58,0.9848884861009138,3742.5197407745354,23140886.939810313,57948.54712242031,2494.0049116722694
+Physical_Joints_59,1.6332433139171412,6636.8573178788765,42685429.44603451,129117.02022043931,2075.9375527962393
+Physical_Joints_60,46.487517825219406,145674.88359799286,655339121.6674163,544412.9833417761,3793.1503066305536
+Physical_Joints_61,2.708419125021664,12692.242361471948,56369791.16862576,175181.60139505382,2001.6651895927155
+Physical_Joints_62,5.054069583166371,26772.08415949833,113805020.14922175,302718.1663225262,1584.2666835828252
+Physical_Joints_63,0.24979518141933812,791.9379665427067,3654532.5954211475,26832.127275413437,664.7462816721174
+Physical_Joints_64,0.02050604159408944,61.510587552425015,386078.6914946085,14474.424502587757,156.24763912678802
+Physical_Joints_65,0.024848092297298535,61.74197220161312,395285.29027045186,14620.453284126483,162.71264300949653
+Physical_Joints_66,0.26338262484955366,817.608569517905,3633632.665279293,27285.945780965085,648.2925920423
+Physical_Joints_67,0.1251488016245921,330.28236937482376,1547237.5512926786,20136.99098593576,378.34355560190676
+Physical_Joints_68,0.1992375850303181,935.1260077515415,6216284.217551658,57298.4367448278,567.8070710237979
+Physical_Joints_69,0.12827937578189197,650.4057723023536,4064576.2124495283,29095.66005369377,783.4478102924388
+Physical_Joints_70,0.1091130150005021,607.8307322893702,3850191.9647917436,33847.48919904248,571.031605123194
+Physical_Joints_71,0.20765981033929812,987.7004379207464,6647402.481019944,58857.94586684412,578.8836025017671
+Physical_Joints_72,0.08025578513153399,297.8399334195618,1405225.766117696,21551.513534806218,327.4120871709526
+Physical_Joints_73,0.11886732072522874,163.39586869406705,579927.9614204494,10677.164483505292,289.26714363103576
+Physical_Joints_74,1.955116400090889,10014.70254515649,66394169.38179182,188490.10737694224,751.8473735339296
+Physical_Joints_75,0.119999935613466,161.01761848006709,564617.5945979431,10839.201512476708,287.8101423206942
+Physical_Joints_76,37.05096603960637,101990.47196234005,300485156.12094927,306394.001650949,6448.32051720244
+Physical_Joints_77,40.23089701295392,169958.11771166974,1058379079.1663185,561755.1838102005,10336.889410147987
+Physical_Joints_78,12.761002298272826,66541.52007018268,295840740.78221047,481488.6002032238,3824.453162098025
+Physical_Joints_79,126.16081723445151,629788.5350278838,4347464518.237631,1316041.3211210365,21231.19915538918
+Physical_Joints_80,20.498489572675112,96036.60124503117,616704492.5440911,369303.9584582765,8309.329724738725
+Physical_Joints_81,149.30331898195578,388840.1735014132,2067046918.9822872,1009698.8643897865,7781.170873364052
+Physical_Joints_82,49.60376997971529,136889.1150801627,477489974.65252805,508037.7653169811,2678.9339140456414
+Physical_Joints_83,197.70046566340653,782481.2126687289,4756761231.487931,1781353.1140778621,5980.740104656135
+Physical_Joints_84,84.43672075689254,257638.40895454003,1175366640.3741682,667855.9365842754,5207.223456724559
+Physical_Joints_85,34.736136300323565,122993.61829898885,683772324.8169602,536194.3583213126,5496.788954879664
+Physical_Joints_86,149.3787243442997,527201.7637520636,3895537753.933762,1386439.2710629494,13024.879061238213
+Physical_Joints_87,13.930868273492253,43503.08071115105,238701527.63206828,254980.67347987436,3000.991824854969
+Physical_Joints_88,46.22824328618545,124288.85430811116,756765094.3931438,466435.39151961426,4168.884043724613
+Physical_Joints_89,0.35464922882273836,1627.3904243318407,7754358.398935458,47962.211009278886,693.8788365875065
+Physical_Joints_90,14.171097920454839,91547.01636440617,597348853.7225194,463831.55330672004,2677.0728766799098
+Physical_Joints_91,38.186945907436645,165785.3424761177,1051732666.0669366,696427.3615113624,4014.9613891844183
+Physical_Joints_92,1.6611348862193878,8215.665873628312,33639565.332429975,172565.76703743896,900.9640358750607
+Physical_Joints_93,0.10952287791725868,402.78934072200514,1824481.0860858844,25849.131889021508,359.7574093828138
+Physical_Joints_94,310.2962641595264,1118711.0745219982,4970873923.045027,1574415.6285547805,30818.60689569604
+Physical_Joints_95,145.44388998448812,529567.8777890548,2412037728.033421,1146648.814131454,6126.312299865717
+Physical_Joints_96,282.1819149115819,505500.9852331986,1227322771.5886188,933224.286239052,5846.840126742843
+Physical_Joints_97,53.94208995848978,365483.6565209999,2055857506.5616882,1324048.3259899756,3086.0126901258072
+Physical_Joints_98,44.704695125229165,241690.4031659426,1587204364.7212758,902086.3837704951,10163.528726746952
+Physical_Joints_99,33.11305891314902,162444.34537780244,1148992315.2268791,587895.2729577383,3948.661324971654
+Physical_Joints_100,40.1083298183349,248310.52432625982,1824051010.6543612,897004.7291053709,3995.965934976624
+Physical_Joints_101,4.455188136220008,31919.59050994809,244882374.59723407,360302.4327742318,1388.0149587981903
+Physical_Joints_102,773.2864036521457,1815699.1794171687,7091356853.32114,2233292.092133961,12364.556776071651
+Physical_Joints_103,528.4075923198081,2842574.2705968805,19020856460.62928,1206657.0387641466,80537.27666071236
+Physical_Joints_104,466.09664184318945,2030171.4537392196,12948814863.570803,946049.8853560502,67552.99352143478
+Physical_Joints_105,0.09812229541333005,155.01665367947996,784952.3748510218,11294.776726754695,477.43205793503813
+Physical_Joints_106,0.007651841639283579,24.902076606346167,166217.48993055278,5102.799924232542,218.26711387903913
+Physical_Joints_107,782.1042426580855,3623075.9739225795,23530866817.697895,2207107.7268807054,68828.99401547086
+Physical_Joints_108,1.8691468259102861,6446.507195127786,35982263.21389698,119523.61775142986,1063.9604874506485
+Physical_Joints_109,52.52201028590001,186520.7635469151,1087097293.4184837,588934.7995125001,9281.943200993586
+Physical_Joints_110,1194.566163345669,6840685.33542599,49983307730.09659,2523717.506095246,117683.19713047412
+Physical_Joints_111,908.2980187253232,3439221.117626328,20015482390.506676,2073645.0628407819,55747.99455849867
+Physical_Joints_112,153.3148396477041,559289.7913082257,3363592924.706307,1459658.8767505419,8100.435271055936
+Physical_Joints_113,1.5394509260766809,5387.460788711081,32214278.526147373,88430.33252426381,2383.938441007536
+Physical_Joints_114,0.9143235953111825,2930.4880465726974,19595241.44955959,71177.7590072256,1624.8533032640598
+Physical_Joints_115,353.2242010790049,2090733.38007543,14255600173.577856,1305220.7536236658,63003.74178865119
+Physical_Joints_116,481.78107787796256,713353.2656373238,1562261240.28244,717211.1114825973,9049.132125795002
+Physical_Joints_117,594.5382790888584,3390271.8956260392,23582789512.457092,1137965.316462663,87117.31949996948
+Physical_Joints_118,900.1567379814066,4965227.478679904,32604363680.65383,3839094.625583062,61265.73695480539
+Physical_Joints_119,0.05226448993403431,85.71894283609586,433615.97522236174,3646.9947886676555,420.2674034039516
+Physical_Joints_120,0.00607446901827871,35.252463882712625,243675.41903893262,3696.539001791942,289.8310166234987
+Physical_Joints_121,395.7152476354155,2286826.2311310233,15925872521.4362,868920.7789709321,68166.0841477849
+Physical_Joints_122,0.3513801844177155,1910.2911021672853,12979622.474778578,68021.60934455885,1199.117047064421
+Physical_Joints_123,14.746575608307644,74255.64795387749,488062498.0081185,200707.57913247586,11230.379987264656
+Physical_Joints_124,673.7636230022548,2566401.0856501004,13479265923.88292,2155829.91954228,26742.823035269957
+Physical_Joints_125,1091.699138266488,4856387.070614777,24855899109.552177,2541811.942259135,74795.62532537109
+Physical_Joints_126,210.4197073871552,482350.7226491778,2956830061.1168423,839068.0384135048,6481.44172160076
+Physical_Joints_127,0.523081526418688,2918.589858970646,20269202.386198156,41551.687742404494,2445.728643697525
+Physical_Joints_128,0.6055850195471347,1039.9465585277278,5121126.073740774,23710.118723868956,1299.5019739565619
+Physical_Joints_129,309.006713503621,1810507.480745916,12693113914.597145,666306.3828767685,61930.36389841475
diff --git a/data/sac/sac_stepping_stones_checkpoints/best_model.zip b/data/sac/sac_stepping_stones_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..04c375b64c0c6e22d502d9595926f1e9beccdfb9
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b73dc6a1aaca0bd58b3d1ed5273a2a01810b71883ec0c4e71a3c8e53a1ede4
+size 158280813
diff --git a/data/sac/sac_stepping_stones_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_stepping_stones_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..8455d687de0621873c273c58f0d6d2f07608664f
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e77d2777ee4f040c5505447afbd2091b4c0fd2af10186e49a1a4271270b8a98b
+size 317194
diff --git a/data/sac/sac_stepping_stones_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_stepping_stones_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef80299c19df3f881335dd3c58b93dab7b23a00e
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9820296d4f04eb9f8c62bb9b375e186a31c59c7ea3e25b13e3c91f55d2085fc3
+size 521573
diff --git a/data/sac/sac_stepping_stones_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_stepping_stones_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c44031510775533637bad7f713b974e85e49679
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfcb7c94393bc4b3a3e7010519f0aacc4f31a1e7fc0cd5b9742fbd870eeeae70
+size 484694
diff --git a/data/sac/sac_stepping_stones_checkpoints/vec_normalize.pkl b/data/sac/sac_stepping_stones_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..40e2b3ef256d52a147b5ecb5cb514e70102c9185
--- /dev/null
+++ b/data/sac/sac_stepping_stones_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb756cd5a994a332d29fd449e57b0da126956ca3603e09697180e1d55221237f
+size 305159
diff --git a/data/sac/sac_stepping_stones_logs/SAC_1/events.out.tfevents.1778915053.discover-01.2376051.0 b/data/sac/sac_stepping_stones_logs/SAC_1/events.out.tfevents.1778915053.discover-01.2376051.0
new file mode 100644
index 0000000000000000000000000000000000000000..51e5193071d487f51a620894889f34ec4cdef459
--- /dev/null
+++ b/data/sac/sac_stepping_stones_logs/SAC_1/events.out.tfevents.1778915053.discover-01.2376051.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d26db1fa803470d649cae89eb086c900c5b233fdec0e26e9556a904067b4b0
+size 35591295
diff --git a/data/sac/sac_stepping_stones_logs/eval_logs/evaluations.npz b/data/sac/sac_stepping_stones_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6a369b9de7105b2905a6284c86d8497149c76b7
--- /dev/null
+++ b/data/sac/sac_stepping_stones_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb0f72416efbdffcfa7f180a0bc563fdd8e4c5b502c9315d0f54e5fec133a91
+size 65114
diff --git a/data/sac/sac_walkandsit_checkpoints/Muscle_Actions_compliance_report.csv b/data/sac/sac_walkandsit_checkpoints/Muscle_Actions_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5830013798bd88527de7ee250853b792f9a0568a
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/Muscle_Actions_compliance_report.csv
@@ -0,0 +1,417 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Muscle_Actions_0,11.719024,80139.055,2152461600.0,543116.0,12888.937
+Muscle_Actions_1,17.200253,199809.22,4580729300.0,637194.6,19666.105
+Muscle_Actions_2,20.130398,313658.28,7984223000.0,1539374.2,18699.389
+Muscle_Actions_3,17.296595,203522.9,5378146000.0,778527.9,17870.838
+Muscle_Actions_4,35.047688,440641.72,9844726000.0,1544587.5,22355.791
+Muscle_Actions_5,15.924335,274912.16,6926931000.0,1143318.9,22178.076
+Muscle_Actions_6,14.562382,271354.1,8898637000.0,1183513.4,20146.355
+Muscle_Actions_7,11.574202,250249.48,8042232300.0,966336.94,19871.822
+Muscle_Actions_8,12.11532,177269.27,4564212000.0,875468.6,16851.941
+Muscle_Actions_9,25.363064,277523.84,5433131500.0,841275.75,21419.05
+Muscle_Actions_10,12.571046,181291.25,5748318000.0,840995.94,21687.111
+Muscle_Actions_11,16.843182,202635.56,5079931000.0,746123.4,19670.184
+Muscle_Actions_12,16.264921,115285.34,2396787200.0,407753.0,17510.344
+Muscle_Actions_13,18.182714,284203.03,7108973000.0,1215277.0,20685.133
+Muscle_Actions_14,7.598411,79603.94,1674066800.0,568515.75,11046.784
+Muscle_Actions_15,5.4155884,62822.402,1598448300.0,292360.38,14534.106
+Muscle_Actions_16,6.9164386,113539.49,3376878600.0,626499.8,15964.436
+Muscle_Actions_17,11.933925,139100.2,3161868000.0,509285.34,18199.453
+Muscle_Actions_18,16.48641,210247.22,4657727500.0,701170.75,19455.27
+Muscle_Actions_19,19.019455,215979.38,6118701000.0,754958.6,22070.01
+Muscle_Actions_20,15.84521,181804.45,3693723600.0,732350.1,16902.068
+Muscle_Actions_21,10.843138,143764.22,3361576200.0,722490.94,16601.775
+Muscle_Actions_22,2.6146996,18596.273,426103400.0,223964.94,6336.2563
+Muscle_Actions_23,1.4497976,7254.1343,144550740.0,90969.92,4047.857
+Muscle_Actions_24,17.266905,207115.72,4709878000.0,643558.3,21012.057
+Muscle_Actions_25,21.186003,150631.83,2618968800.0,518321.75,17130.658
+Muscle_Actions_26,10.260769,133251.42,3767517700.0,641684.2,17208.336
+Muscle_Actions_27,12.325621,154123.08,3696982800.0,958772.06,15334.611
+Muscle_Actions_28,8.449724,94342.29,2118240300.0,375612.97,15998.421
+Muscle_Actions_29,23.809559,297971.62,6759644000.0,1133103.9,20987.488
+Muscle_Actions_30,19.592522,301366.6,8689998000.0,1098199.4,21783.33
+Muscle_Actions_31,28.684452,491785.62,14409444000.0,1366947.0,26148.062
+Muscle_Actions_32,22.265274,423652.8,10979942000.0,1493064.1,22722.9
+Muscle_Actions_33,10.662361,103311.31,2265385700.0,370944.03,16660.572
+Muscle_Actions_34,14.223396,182913.02,4301714000.0,633633.4,20128.44
+Muscle_Actions_35,15.097451,237121.0,5911390000.0,941684.4,22368.605
+Muscle_Actions_36,11.400156,123856.06,3204059400.0,476668.53,16020.123
+Muscle_Actions_37,11.520813,197980.28,6152710700.0,833218.44,22268.03
+Muscle_Actions_38,15.620044,229006.73,6520063500.0,1038932.94,19534.36
+Muscle_Actions_39,10.27754,78557.63,1836348400.0,347059.6,15590.25
+Muscle_Actions_40,19.215048,215284.9,5082840000.0,606033.0,21707.799
+Muscle_Actions_41,13.43625,198999.66,5818683400.0,978682.4,20872.34
+Muscle_Actions_42,14.071545,192964.23,4437218000.0,924755.06,14759.647
+Muscle_Actions_43,12.93176,121599.17,3185801700.0,571294.25,17930.445
+Muscle_Actions_44,9.273001,89300.8,2163987500.0,365517.3,16813.781
+Muscle_Actions_45,5.1583033,58159.04,1337153700.0,407942.06,12977.05
+Muscle_Actions_46,18.915972,152601.08,2444933600.0,608066.8,13899.396
+Muscle_Actions_47,18.119352,274504.03,7448757000.0,1035358.3,21730.25
+Muscle_Actions_48,10.510595,124268.17,3066274000.0,675286.7,16661.572
+Muscle_Actions_49,17.489117,206135.03,5071201300.0,730997.25,21288.393
+Muscle_Actions_50,18.992422,315821.94,8465198000.0,1273671.9,21211.25
+Muscle_Actions_51,24.827375,433192.44,12300595000.0,1507018.6,25712.064
+Muscle_Actions_52,6.2797904,99142.02,2943657700.0,483400.22,17663.605
+Muscle_Actions_53,20.134928,182126.08,3277098000.0,611234.3,17452.363
+Muscle_Actions_54,11.106118,111536.83,2739473400.0,519845.72,17710.293
+Muscle_Actions_55,14.410194,203202.39,5949288000.0,968524.9,20245.436
+Muscle_Actions_56,16.691477,224823.12,5064407000.0,957775.3,18698.34
+Muscle_Actions_57,25.464981,338375.16,7466519000.0,997321.3,19274.799
+Muscle_Actions_58,17.365864,183240.58,3616752600.0,761988.1,15838.506
+Muscle_Actions_59,8.541586,78033.734,1822246800.0,324613.1,15767.181
+Muscle_Actions_60,18.203547,291352.9,7507376000.0,1005911.5,23817.977
+Muscle_Actions_61,11.628632,127842.7,3275007700.0,622569.2,18738.078
+Muscle_Actions_62,10.8063345,117756.7,2268997400.0,424597.56,14965.054
+Muscle_Actions_63,21.995668,206268.62,3556124200.0,552143.94,19282.963
+Muscle_Actions_64,22.346445,462400.25,14664492000.0,1567942.1,24060.945
+Muscle_Actions_65,15.589994,185356.77,5077473000.0,783692.0,19131.148
+Muscle_Actions_66,9.746639,143857.02,4118986000.0,977014.06,16048.329
+Muscle_Actions_67,16.40536,173520.08,4142814200.0,585271.25,20494.1
+Muscle_Actions_68,19.58717,177537.48,2987082800.0,740941.1,14417.617
+Muscle_Actions_69,7.7573733,90417.94,2270741500.0,431339.88,15349.253
+Muscle_Actions_70,34.426357,488138.56,13339814000.0,1231210.5,29682.46
+Muscle_Actions_71,16.056372,150879.05,3251656000.0,739140.75,17164.42
+Muscle_Actions_72,6.6139283,73203.98,1453381000.0,467715.25,11674.555
+Muscle_Actions_73,15.318365,119347.4,3174924000.0,530351.3,19812.826
+Muscle_Actions_74,15.97524,151960.83,3826006000.0,757315.5,16908.28
+Muscle_Actions_75,17.695616,275544.62,6760142000.0,935136.0,22794.314
+Muscle_Actions_76,17.61146,305789.25,7934842000.0,1310440.1,21794.73
+Muscle_Actions_77,15.225523,344516.03,10469228000.0,1309078.4,24433.121
+Muscle_Actions_78,9.167828,115841.51,3252271400.0,724393.44,17654.645
+Muscle_Actions_79,15.814209,177124.03,4546494500.0,865887.06,19763.13
+Muscle_Actions_80,9.901885,105520.336,2248704000.0,680557.1,13406.531
+Muscle_Actions_81,13.908004,200992.36,5238360000.0,978769.3,20828.242
+Muscle_Actions_82,20.95802,239563.3,5081515500.0,711304.5,20924.715
+Muscle_Actions_83,21.018745,256866.62,5566791000.0,932825.56,17865.035
+Muscle_Actions_84,7.25343,119481.77,4022326500.0,717069.2,17909.582
+Muscle_Actions_85,14.23633,134286.67,2514007800.0,410992.22,18302.484
+Muscle_Actions_86,12.707686,160448.98,3585622500.0,570332.44,17148.268
+Muscle_Actions_87,7.05141,78931.79,2252111600.0,539293.2,15940.111
+Muscle_Actions_88,16.210546,193721.98,4740968000.0,831410.44,20256.406
+Muscle_Actions_89,14.391413,128707.62,2829764400.0,630639.3,16222.351
+Muscle_Actions_90,18.285381,156024.78,3467094000.0,743702.1,17733.057
+Muscle_Actions_91,12.045001,123409.45,2431157200.0,465619.22,16772.076
+Muscle_Actions_92,8.709008,113214.414,2897617700.0,462524.2,17310.354
+Muscle_Actions_93,11.854154,130664.35,3185667800.0,546977.3,15750.914
+Muscle_Actions_94,11.716606,184246.55,5017516500.0,753816.94,19731.04
+Muscle_Actions_95,8.238549,87455.68,2282934000.0,395782.6,15672.046
+Muscle_Actions_96,22.683594,193607.7,3823143700.0,693468.0,18289.045
+Muscle_Actions_97,13.176228,183779.03,5127299600.0,968346.94,21130.156
+Muscle_Actions_98,18.25093,233311.11,5540954600.0,791170.6,21383.82
+Muscle_Actions_99,21.132896,241112.6,6380983300.0,791694.2,22492.248
+Muscle_Actions_100,14.890608,215776.92,5956896000.0,1106333.5,18405.873
+Muscle_Actions_101,11.622983,172687.03,4233476400.0,745002.5,17015.53
+Muscle_Actions_102,7.88282,81042.49,2015916000.0,507016.2,13837.958
+Muscle_Actions_103,11.4494505,124837.77,2853152000.0,603968.56,16946.963
+Muscle_Actions_104,21.2733,311296.22,7474935000.0,1292434.9,21313.055
+Muscle_Actions_105,17.309904,161519.77,3487729700.0,654530.3,17517.113
+Muscle_Actions_106,17.400057,164405.75,3924795000.0,572482.44,19082.775
+Muscle_Actions_107,17.770868,299937.06,7665614300.0,1049923.2,25593.518
+Muscle_Actions_108,13.554817,115534.78,2280245800.0,402208.94,16147.444
+Muscle_Actions_109,20.336676,296111.06,8194130400.0,1143721.6,21323.22
+Muscle_Actions_110,18.33321,209901.83,4804573000.0,676692.4,20537.744
+Muscle_Actions_111,14.362393,229247.33,6568662500.0,923358.7,20675.48
+Muscle_Actions_112,22.993563,273008.25,6267014700.0,1290846.1,17960.338
+Muscle_Actions_113,10.148888,97608.53,1886308900.0,420893.06,14254.979
+Muscle_Actions_114,13.202896,166290.58,3471345400.0,645702.94,15907.437
+Muscle_Actions_115,13.707599,162019.95,3981581800.0,819620.0,17539.525
+Muscle_Actions_116,19.826374,195625.56,3815306200.0,625758.9,18060.297
+Muscle_Actions_117,11.03224,125530.59,2734370800.0,416358.47,16890.244
+Muscle_Actions_118,18.6807,142953.97,2514434800.0,456903.47,17164.225
+Muscle_Actions_119,16.123991,230681.83,5837413400.0,1018521.44,22552.592
+Muscle_Actions_120,15.136678,166286.5,4001311200.0,1070267.2,16590.404
+Muscle_Actions_121,5.9670286,58787.125,1358452500.0,268164.4,14312.331
+Muscle_Actions_122,11.498319,92136.79,2227081500.0,461802.6,15706.044
+Muscle_Actions_123,8.296403,78712.16,2124057900.0,442163.16,16083.049
+Muscle_Actions_124,14.641317,284731.72,8351738400.0,1118597.2,20612.178
+Muscle_Actions_125,18.554422,159483.1,3303095300.0,692074.7,17276.125
+Muscle_Actions_126,12.482072,219141.03,6392322000.0,1163325.4,19142.334
+Muscle_Actions_127,20.950354,307171.62,9026091000.0,1076708.0,23233.979
+Muscle_Actions_128,18.45616,281477.16,8405764000.0,1295484.2,21277.477
+Muscle_Actions_129,14.652902,261279.66,7970920400.0,1357979.5,20245.855
+Muscle_Actions_130,7.965304,56546.82,1305468300.0,313312.4,12380.488
+Muscle_Actions_131,21.112682,213016.7,4512035300.0,807049.1,18566.537
+Muscle_Actions_132,13.596212,94499.62,1884914000.0,370976.7,15800.402
+Muscle_Actions_133,31.378101,421825.53,10390980000.0,1771644.6,21687.262
+Muscle_Actions_134,18.086218,382960.44,12226055000.0,1494468.5,27647.217
+Muscle_Actions_135,19.517895,344127.4,9780779000.0,1207653.5,24288.643
+Muscle_Actions_136,18.30815,124052.125,2849753600.0,452513.22,18019.197
+Muscle_Actions_137,13.305322,145262.39,3380465700.0,569359.75,16265.805
+Muscle_Actions_138,10.795038,94783.695,1737202000.0,467732.0,15038.679
+Muscle_Actions_139,13.390529,140296.88,2654429200.0,490344.28,17213.764
+Muscle_Actions_140,15.312802,173108.25,3658483500.0,752001.3,16275.468
+Muscle_Actions_141,17.861605,197783.42,3768345900.0,507299.53,21550.105
+Muscle_Actions_142,15.41393,332694.1,10490896000.0,1440585.6,23553.893
+Muscle_Actions_143,27.015854,315492.0,7265949700.0,822825.75,24807.123
+Muscle_Actions_144,5.6977243,78999.67,2169264600.0,415975.1,13903.258
+Muscle_Actions_145,21.065283,242423.88,6016745500.0,1102343.4,20326.781
+Muscle_Actions_146,18.509586,147216.7,2844785400.0,659341.2,16366.345
+Muscle_Actions_147,19.574957,270789.72,5930880500.0,1044353.25,20174.115
+Muscle_Actions_148,11.818086,118569.35,3009585200.0,594291.44,15856.05
+Muscle_Actions_149,11.595881,191731.16,5487134000.0,680077.06,21707.354
+Muscle_Actions_150,20.73023,196599.88,3979240000.0,786743.4,16104.125
+Muscle_Actions_151,12.482282,106096.97,1817671400.0,572565.3,14067.4795
+Muscle_Actions_152,12.831183,198358.28,5423189500.0,664459.9,22816.896
+Muscle_Actions_153,12.150824,147993.03,4143850200.0,609529.9,20559.633
+Muscle_Actions_154,18.317263,249473.98,6027246000.0,742812.2,23290.027
+Muscle_Actions_155,14.208647,154979.9,3137279500.0,543838.44,17777.629
+Muscle_Actions_156,13.16458,134232.77,2825856500.0,835705.1,14881.894
+Muscle_Actions_157,10.381121,159391.2,4587430400.0,828397.75,17217.756
+Muscle_Actions_158,32.599785,376806.94,6633201000.0,688605.8,21987.877
+Muscle_Actions_159,12.769348,199319.95,4940002300.0,686208.94,19597.084
+Muscle_Actions_160,12.317822,188173.2,4761721300.0,751628.6,21739.99
+Muscle_Actions_161,12.693881,196445.62,5525090300.0,873254.06,20205.137
+Muscle_Actions_162,10.53172,105917.73,2156370000.0,430924.12,15169.216
+Muscle_Actions_163,11.753805,148687.16,3577089000.0,604794.8,16480.035
+Muscle_Actions_164,23.531324,284573.78,6636317700.0,806254.75,23050.88
+Muscle_Actions_165,24.864958,374650.44,9726372000.0,1039711.8,25575.584
+Muscle_Actions_166,20.556288,272330.8,7421476000.0,1314240.8,19574.605
+Muscle_Actions_167,10.4807415,136208.34,3548865500.0,775203.9,15644.237
+Muscle_Actions_168,14.099046,124522.94,2546476800.0,401377.9,18113.13
+Muscle_Actions_169,7.0500574,51254.684,917223800.0,248125.9,11414.298
+Muscle_Actions_170,11.893577,152143.22,3872764000.0,528804.8,19427.791
+Muscle_Actions_171,17.337912,153025.5,3527503600.0,775458.94,17882.205
+Muscle_Actions_172,12.536457,149756.94,3476915500.0,719599.0,17623.361
+Muscle_Actions_173,8.278547,99188.484,2444638200.0,587187.9,16122.042
+Muscle_Actions_174,11.839967,139684.56,3628200000.0,503125.3,18872.248
+Muscle_Actions_175,19.276352,208868.39,4538410000.0,592230.3,21788.33
+Muscle_Actions_176,22.866234,323043.12,8738185000.0,1530327.8,21326.068
+Muscle_Actions_177,10.929237,170242.77,4778515000.0,962963.25,19324.05
+Muscle_Actions_178,25.797703,394823.12,10628633000.0,1148192.6,27786.143
+Muscle_Actions_179,4.3992014,52655.895,1450879200.0,358942.88,14361.045
+Muscle_Actions_180,12.874625,130352.836,2882746600.0,691533.0,15836.103
+Muscle_Actions_181,24.01095,371829.1,10217042000.0,1217385.2,25262.621
+Muscle_Actions_182,14.41964,258044.64,7324892000.0,1245376.6,20543.244
+Muscle_Actions_183,8.327681,75219.15,1788292200.0,439960.66,13365.486
+Muscle_Actions_184,12.816964,222443.97,6387804000.0,1137840.5,18246.367
+Muscle_Actions_185,15.40974,158261.81,3818460700.0,776055.0,18494.854
+Muscle_Actions_186,18.502506,299154.03,8985187000.0,1300120.9,23946.31
+Muscle_Actions_187,4.833131,83069.0,2606725000.0,750504.6,10812.674
+Muscle_Actions_188,9.591923,93119.6,2304506600.0,487405.4,15156.077
+Muscle_Actions_189,8.797467,146086.5,4572339700.0,846019.6,18618.43
+Muscle_Actions_190,8.141536,54717.734,1183187500.0,354958.6,13584.893
+Muscle_Actions_191,29.839005,410745.2,10427259000.0,1635051.8,24586.852
+Muscle_Actions_192,18.858511,280293.3,7591720400.0,816857.8,27807.59
+Muscle_Actions_193,19.047861,216153.3,4801991000.0,508360.97,22721.375
+Muscle_Actions_194,14.268941,192193.8,4593026600.0,658399.75,23901.396
+Muscle_Actions_195,11.047982,142953.23,3642230800.0,404616.94,20693.95
+Muscle_Actions_196,20.09362,276266.5,5858135600.0,998220.25,20775.055
+Muscle_Actions_197,8.823832,97151.3,2726529000.0,511522.25,18218.182
+Muscle_Actions_198,11.632864,155320.0,3517877000.0,724243.3,15097.36
+Muscle_Actions_199,12.681135,130392.63,3335398700.0,748261.94,16081.579
+Muscle_Actions_200,6.8011966,72654.93,1699279500.0,407636.6,13974.0
+Muscle_Actions_201,5.0593243,81997.08,2528228600.0,617937.8,15551.824
+Muscle_Actions_202,15.183982,181624.33,4167889700.0,687980.75,17836.16
+Muscle_Actions_203,13.383321,101969.19,2332522200.0,579423.7,15424.065
+Muscle_Actions_204,21.532372,330572.66,8519182000.0,1158268.8,23709.414
+Muscle_Actions_205,9.086215,123753.8,3140073500.0,589873.2,16640.564
+Muscle_Actions_206,27.829977,361847.62,8926761000.0,784786.0,28026.98
+Muscle_Actions_207,16.785551,223320.11,5576107000.0,744398.56,20721.713
+Muscle_Actions_208,22.202917,238644.64,5360282000.0,665882.5,21505.586
+Muscle_Actions_209,45.090595,656163.9,17716957000.0,1911478.5,32985.664
+Muscle_Actions_210,10.535959,116494.55,3199826000.0,648993.3,16520.357
+Muscle_Actions_211,9.462294,41659.645,764642900.0,398073.03,7378.624
+Muscle_Actions_212,23.097471,343549.3,9666423000.0,1163616.8,27189.748
+Muscle_Actions_213,16.777664,132958.69,3281141500.0,708458.3,18601.27
+Muscle_Actions_214,17.76651,151759.61,3520065300.0,656835.9,18252.59
+Muscle_Actions_215,16.664164,191229.84,4591714000.0,970216.9,18374.658
+Muscle_Actions_216,9.954769,104947.766,2904089000.0,448228.38,16404.701
+Muscle_Actions_217,17.40578,224264.9,6309373000.0,792796.25,24401.94
+Muscle_Actions_218,19.408615,303151.06,9012180000.0,1168434.2,25487.062
+Muscle_Actions_219,12.45581,137320.47,3472603400.0,492581.06,19852.02
+Muscle_Actions_220,14.018498,193033.36,5204207600.0,889490.75,19263.863
+Muscle_Actions_221,18.447811,318666.25,9765068000.0,1368768.2,25315.713
+Muscle_Actions_222,5.805141,89064.66,2812218600.0,529746.5,16018.622
+Muscle_Actions_223,13.945182,157690.25,3699108400.0,903275.06,19933.328
+Muscle_Actions_224,19.392994,125745.234,1841478800.0,957464.94,2782.749
+Muscle_Actions_225,15.744096,68649.516,592750200.0,422801.2,2295.1023
+Muscle_Actions_226,20.453651,98086.016,2213326800.0,964182.3,3368.1143
+Muscle_Actions_227,16.922504,107154.875,2255009800.0,1018175.6,3321.5364
+Muscle_Actions_228,23.243174,202446.7,3827975000.0,558426.9,18000.236
+Muscle_Actions_229,21.95167,202293.83,3713625600.0,623051.1,18065.354
+Muscle_Actions_230,19.388956,106916.55,2008646700.0,448687.44,15744.091
+Muscle_Actions_231,8.523651,107163.71,2993466400.0,488858.0,14496.121
+Muscle_Actions_232,16.359438,201469.5,5608383500.0,882313.9,18337.033
+Muscle_Actions_233,18.225637,168802.44,3741452500.0,606972.7,19555.28
+Muscle_Actions_234,19.427681,187779.19,3788520000.0,654577.75,16525.387
+Muscle_Actions_235,12.359299,99869.19,2630348500.0,481931.56,17312.602
+Muscle_Actions_236,27.34104,265956.75,6787705300.0,1108225.5,19659.188
+Muscle_Actions_237,19.590122,329463.6,8546245000.0,894701.0,22337.79
+Muscle_Actions_238,14.078994,154663.78,3231978800.0,622470.1,15881.989
+Muscle_Actions_239,24.064005,171291.5,2822118100.0,597921.94,13157.34
+Muscle_Actions_240,20.966608,409422.53,12374982000.0,1607320.4,29805.568
+Muscle_Actions_241,11.91811,214377.8,6026253000.0,1164524.8,18427.498
+Muscle_Actions_242,6.9520693,101321.27,3120699600.0,784829.6,13005.946
+Muscle_Actions_243,8.018971,102115.42,2819372800.0,463828.28,17546.545
+Muscle_Actions_244,9.265253,138184.72,4019730700.0,689941.25,21110.08
+Muscle_Actions_245,17.487556,174457.16,4078239200.0,912915.5,17643.305
+Muscle_Actions_246,28.85612,516189.72,16846645000.0,1603915.8,30735.77
+Muscle_Actions_247,14.855625,163813.6,4679161000.0,829204.75,17418.299
+Muscle_Actions_248,0.035772413,214.56192,1242229.4,19594.67,120.48078
+Muscle_Actions_249,21.127398,270660.38,5825536500.0,679355.4,20417.164
+Muscle_Actions_250,23.099096,175964.44,3556296200.0,569677.5,19822.027
+Muscle_Actions_251,12.885756,92353.875,2107818900.0,527001.4,13427.116
+Muscle_Actions_252,15.549679,250678.92,7038683600.0,1132160.0,23653.828
+Muscle_Actions_253,36.157356,439131.47,7555006500.0,910729.0,23283.076
+Muscle_Actions_254,13.369926,126069.5,2547070000.0,555361.25,17251.094
+Muscle_Actions_255,19.835634,322319.8,8664400000.0,1038709.9,27850.445
+Muscle_Actions_256,17.035517,292619.72,8052934700.0,997780.75,24187.723
+Muscle_Actions_257,17.185263,126424.51,3233623800.0,865390.75,15052.54
+Muscle_Actions_258,22.731627,340243.56,10001730000.0,1450936.5,23553.604
+Muscle_Actions_259,21.961237,276174.2,6979369000.0,1078514.1,23187.19
+Muscle_Actions_260,22.30364,379686.22,11803306000.0,1239425.1,25765.766
+Muscle_Actions_261,18.146421,198737.69,5568613400.0,753112.3,20720.168
+Muscle_Actions_262,15.989271,234701.52,5769328000.0,838296.9,20802.824
+Muscle_Actions_263,34.266037,755846.44,24247914000.0,2463183.5,28778.555
+Muscle_Actions_264,18.31646,85459.69,1201051500.0,747571.25,3602.3066
+Muscle_Actions_265,15.366135,52114.74,823215940.0,484557.4,4187.591
+Muscle_Actions_266,36.89601,193431.42,924575940.0,592500.7,2266.7593
+Muscle_Actions_267,13.367862,64587.426,1068618900.0,658371.44,4217.9053
+Muscle_Actions_268,22.069008,225910.9,6189862000.0,1282620.2,18225.791
+Muscle_Actions_269,16.23326,114594.87,2260252400.0,330641.1,16875.514
+Muscle_Actions_270,13.183046,134209.58,3519030300.0,803289.6,15910.098
+Muscle_Actions_271,10.298695,83286.03,1433372900.0,424856.6,10145.617
+Muscle_Actions_272,15.475193,150461.16,3644563000.0,910466.44,16834.967
+Muscle_Actions_273,10.462776,104670.99,2605948200.0,602431.06,15760.736
+Muscle_Actions_274,12.22511,129113.0,3622453800.0,612551.3,15257.443
+Muscle_Actions_275,6.8941116,101263.945,2609497900.0,682472.3,12537.328
+Muscle_Actions_276,14.986747,151037.17,2915629000.0,645329.4,14803.067
+Muscle_Actions_277,16.57941,171198.45,3463894800.0,836652.5,16309.439
+Muscle_Actions_278,18.736128,167895.17,3566121500.0,554405.75,17223.037
+Muscle_Actions_279,23.981659,272810.7,5306585000.0,911356.06,18362.807
+Muscle_Actions_280,12.854704,175585.17,3877587000.0,778870.44,18999.693
+Muscle_Actions_281,12.016286,143517.23,4407461400.0,978912.25,16874.7
+Muscle_Actions_282,13.762024,104969.7,1925297700.0,433824.2,15596.923
+Muscle_Actions_283,5.275346,23526.67,617934600.0,204139.4,9216.515
+Muscle_Actions_284,19.60326,258279.27,6721218000.0,1193272.1,20882.502
+Muscle_Actions_285,19.687654,281694.4,8297829000.0,968446.1,24693.83
+Muscle_Actions_286,34.151005,668720.7,19073931000.0,1893037.6,30708.818
+Muscle_Actions_287,25.912367,294745.75,6980852700.0,1308788.9,21948.994
+Muscle_Actions_288,10.379212,109811.1,2525316600.0,395696.16,18554.184
+Muscle_Actions_289,10.79899,136239.94,3161737200.0,477221.5,19651.03
+Muscle_Actions_290,15.149011,189915.44,5178021400.0,863170.9,19147.014
+Muscle_Actions_291,3.5623841,35078.027,791476160.0,240002.62,10748.954
+Muscle_Actions_292,27.679108,240845.78,4214957300.0,560879.8,19207.691
+Muscle_Actions_293,14.552429,264953.3,7235000300.0,946855.56,22109.89
+Muscle_Actions_294,13.814331,164979.69,4387179000.0,553661.44,22557.867
+Muscle_Actions_295,13.818592,161382.25,3303531300.0,669365.06,17055.707
+Muscle_Actions_296,9.512923,149687.61,4099410200.0,934446.56,17223.88
+Muscle_Actions_297,29.217714,500238.06,12478088000.0,1357027.0,28606.156
+Muscle_Actions_298,11.57777,104159.164,2487804400.0,468958.62,15897.447
+Muscle_Actions_299,13.622856,192592.44,5865608000.0,925688.4,20922.54
+Muscle_Actions_300,10.647955,109925.16,2729060000.0,509582.53,17632.52
+Muscle_Actions_301,13.624075,196725.05,5263563300.0,1037937.9,19734.967
+Muscle_Actions_302,7.970215,141421.81,4033238500.0,765999.44,19551.701
+Muscle_Actions_303,12.458012,151013.12,3658925000.0,546996.9,19382.615
+Muscle_Actions_304,9.5262375,120717.75,3295760000.0,687977.2,18414.266
+Muscle_Actions_305,25.21522,354267.25,8706384000.0,1334660.5,21711.441
+Muscle_Actions_306,13.093011,149559.2,3846833400.0,704672.25,18676.732
+Muscle_Actions_307,12.257021,166241.95,3917766700.0,829099.25,17757.69
+Muscle_Actions_308,9.373177,85172.63,2095849000.0,475093.5,14419.157
+Muscle_Actions_309,17.45955,222410.67,6098743300.0,905710.2,21240.186
+Muscle_Actions_310,20.40628,288945.22,7224673000.0,979267.94,22130.121
+Muscle_Actions_311,15.4324045,174478.56,3712818400.0,639265.56,20684.135
+Muscle_Actions_312,9.730541,149140.28,4315435500.0,618007.56,18508.195
+Muscle_Actions_313,9.829268,105426.99,2315694300.0,433876.88,15918.085
+Muscle_Actions_314,24.526402,276767.12,7347285500.0,1275538.2,19999.494
+Muscle_Actions_315,10.632597,83204.69,1750677400.0,365392.88,12738.856
+Muscle_Actions_316,14.127386,89192.18,2241385000.0,474532.72,14052.778
+Muscle_Actions_317,17.824001,164582.69,4262232800.0,779328.44,18502.71
+Muscle_Actions_318,36.610607,325221.88,8936673000.0,1510360.2,20545.012
+Muscle_Actions_319,17.509764,171992.33,3813042000.0,735609.56,19663.342
+Muscle_Actions_320,14.635183,198664.8,5845571600.0,789926.3,20950.344
+Muscle_Actions_321,14.549626,178249.95,3773479700.0,601620.25,19493.076
+Muscle_Actions_322,36.46421,465247.44,10465162000.0,1489743.2,24181.855
+Muscle_Actions_323,26.181,266731.3,6314446300.0,1411165.0,17117.07
+Muscle_Actions_324,14.870172,54754.355,1117772900.0,324949.62,11712.017
+Muscle_Actions_325,4.803861,48517.152,1417692200.0,512995.25,10661.803
+Muscle_Actions_326,10.153295,122467.914,3444834000.0,712924.25,18720.162
+Muscle_Actions_327,3.670035,24598.346,590682800.0,167390.94,9212.127
+Muscle_Actions_328,12.114597,91940.53,2216827400.0,437194.78,16849.684
+Muscle_Actions_329,11.230957,185999.83,4880740000.0,1014492.5,15121.798
+Muscle_Actions_330,0.25626987,303.92596,4121931.2,20332.574,432.2589
+Muscle_Actions_331,11.69921,133384.67,2491862800.0,642862.94,16605.152
+Muscle_Actions_332,25.545727,117421.1,1952735900.0,688947.5,13653.336
+Muscle_Actions_333,11.050209,163782.7,4110944300.0,1066193.6,14305.906
+Muscle_Actions_334,10.406153,83060.91,1952089000.0,499456.4,14734.183
+Muscle_Actions_335,16.94168,240471.77,5307055600.0,716621.0,20705.334
+Muscle_Actions_336,3.3934298,27306.584,805861800.0,272137.1,8589.894
+Muscle_Actions_337,4.5289216,46315.863,1308233300.0,267848.56,13875.202
+Muscle_Actions_338,26.763767,214110.27,4209316600.0,1215148.2,5545.854
+Muscle_Actions_339,17.69283,179489.27,4511622000.0,671006.9,19325.824
+Muscle_Actions_340,9.852009,71671.81,1460828200.0,619964.06,6543.7393
+Muscle_Actions_341,10.292652,131968.0,3664635100.0,806192.94,16146.436
+Muscle_Actions_342,9.642902,124132.57,3368630500.0,832394.75,14015.989
+Muscle_Actions_343,11.343489,101316.94,1927901200.0,409055.28,15243.818
+Muscle_Actions_344,12.525232,159407.6,4216226800.0,830695.75,18045.693
+Muscle_Actions_345,9.5148945,51507.47,1282900000.0,242923.5,13169.33
+Muscle_Actions_346,21.509556,183079.31,3944949000.0,681311.56,18148.52
+Muscle_Actions_347,9.936175,115677.05,3536545500.0,546840.2,17288.68
+Muscle_Actions_348,7.535452,73514.47,1739694200.0,313136.47,14234.609
+Muscle_Actions_349,19.246979,238319.38,5132401000.0,821615.94,20998.139
+Muscle_Actions_350,10.556549,103099.34,2034719600.0,428441.88,14339.375
+Muscle_Actions_351,9.4396305,112376.664,3162028300.0,544518.4,15354.939
+Muscle_Actions_352,17.560595,104921.7,2067056600.0,599106.5,13959.007
+Muscle_Actions_353,24.230396,261515.55,5838536700.0,932800.56,16340.818
+Muscle_Actions_354,25.248411,292490.9,6433162000.0,1108220.9,21875.15
+Muscle_Actions_355,22.909533,236991.48,5416857000.0,894973.4,20960.787
+Muscle_Actions_356,10.736223,162884.67,4287723500.0,789214.7,20444.438
+Muscle_Actions_357,30.102846,387430.84,7931927600.0,1380852.2,22284.98
+Muscle_Actions_358,9.600951,112675.56,2847322600.0,475006.47,18178.629
+Muscle_Actions_359,8.517754,83444.51,2001742500.0,378460.53,17218.799
+Muscle_Actions_360,12.608703,167713.69,4618061300.0,668012.2,19790.96
+Muscle_Actions_361,14.058196,243490.94,6690569000.0,983277.56,24060.264
+Muscle_Actions_362,21.276724,320423.44,8777059000.0,1362272.6,22077.098
+Muscle_Actions_363,24.742266,299487.84,7322547000.0,1503160.0,19143.613
+Muscle_Actions_364,14.243645,240590.03,6573373000.0,1213412.0,21047.096
+Muscle_Actions_365,16.54418,154244.38,3490820600.0,675688.0,18006.412
+Muscle_Actions_366,12.275128,152562.03,4309136000.0,716213.5,18558.688
+Muscle_Actions_367,18.03849,272570.44,7351646700.0,1315421.8,22057.371
+Muscle_Actions_368,19.73577,208107.38,5043937300.0,863550.06,22577.9
+Muscle_Actions_369,12.75519,157130.92,4346964500.0,678338.9,20319.508
+Muscle_Actions_370,13.322145,89029.89,1723651800.0,295743.94,16316.191
+Muscle_Actions_371,8.22938,110464.18,3076655000.0,612286.6,17549.504
+Muscle_Actions_372,19.726778,267270.62,5454165500.0,725825.7,21474.734
+Muscle_Actions_373,20.379023,245660.72,5959995000.0,1209290.8,18931.121
+Muscle_Actions_374,11.355513,115399.83,2604543500.0,465490.75,16290.385
+Muscle_Actions_375,15.799387,145909.02,2710070300.0,824977.94,14331.756
+Muscle_Actions_376,20.906673,201685.47,4081740800.0,716271.75,18989.021
+Muscle_Actions_377,24.781479,160353.36,2693481700.0,598019.4,15579.181
+Muscle_Actions_378,16.530235,149939.88,3897086500.0,480813.5,21318.41
+Muscle_Actions_379,22.386887,315267.56,9395750000.0,1471586.9,20219.748
+Muscle_Actions_380,21.788527,294026.8,8962552000.0,1334123.4,24092.793
+Muscle_Actions_381,21.41433,136088.94,2985178000.0,626573.56,16609.057
+Muscle_Actions_382,17.656809,147319.62,3002662100.0,680659.06,15145.44
+Muscle_Actions_383,12.2276945,168121.1,4765895700.0,869393.94,19739.795
+Muscle_Actions_384,24.337084,274787.97,5153267700.0,1039250.9,19086.346
+Muscle_Actions_385,12.527401,133847.89,3295649800.0,813864.5,17515.098
+Muscle_Actions_386,12.909729,118127.92,2464587500.0,601435.1,13624.116
+Muscle_Actions_387,11.300002,111339.02,2591569200.0,541572.0,16390.943
+Muscle_Actions_388,21.043129,197306.5,5191074000.0,738676.25,19017.262
+Muscle_Actions_389,12.683741,144361.88,4105576400.0,815716.06,16993.373
+Muscle_Actions_390,12.11985,131882.55,2521964000.0,491986.5,15180.668
+Muscle_Actions_391,13.405332,80947.11,1454687400.0,386403.9,13117.98
+Muscle_Actions_392,11.702932,106771.664,2655150300.0,556575.3,13958.78
+Muscle_Actions_393,3.9936495,33062.043,654732350.0,301020.16,8881.799
+Muscle_Actions_394,2.7516267,18033.584,378049380.0,186241.56,7757.8086
+Muscle_Actions_395,9.901513,93698.24,2601057800.0,448523.8,17839.58
+Muscle_Actions_396,24.620913,385815.1,9630673000.0,1611480.2,21661.291
+Muscle_Actions_397,4.9139004,41619.42,1058549000.0,280513.28,12314.981
+Muscle_Actions_398,7.859763,85222.24,2103873400.0,378250.47,17082.934
+Muscle_Actions_399,23.994627,279674.62,7067934700.0,808899.75,23236.074
+Muscle_Actions_400,21.276876,253420.84,5856975000.0,1268276.5,20071.338
+Muscle_Actions_401,24.260302,298810.34,8260018000.0,1063208.9,21946.758
+Muscle_Actions_402,14.032184,136498.33,3425427700.0,505402.1,19502.725
+Muscle_Actions_403,17.974455,278827.0,7903706600.0,1096637.5,19334.504
+Muscle_Actions_404,21.920269,305276.0,8321388500.0,1047497.4,24475.22
+Muscle_Actions_405,22.52068,219855.48,5117151700.0,856621.5,19490.62
+Muscle_Actions_406,13.171972,92179.336,2021215200.0,417663.22,15908.864
+Muscle_Actions_407,17.032133,311064.44,9947099000.0,1208407.9,21719.047
+Muscle_Actions_408,26.435757,388756.44,10873656000.0,1714626.4,22611.12
+Muscle_Actions_409,16.418596,156927.05,2937634600.0,560474.0,17259.137
+Muscle_Actions_410,10.38746,69420.86,1822736800.0,462219.12,13490.28
+Muscle_Actions_411,6.566862,90853.24,2292681700.0,411859.28,15624.721
+Muscle_Actions_412,11.404812,139184.92,3129237000.0,508405.34,18212.695
+Muscle_Actions_413,14.905405,136072.72,3232404200.0,637718.44,17882.42
+Muscle_Actions_414,17.688934,191800.44,4897900500.0,700960.9,21233.248
+Muscle_Actions_415,19.864374,234792.52,6460865500.0,1295952.4,18449.352
diff --git a/data/sac/sac_walkandsit_checkpoints/Physical_Joints_compliance_report.csv b/data/sac/sac_walkandsit_checkpoints/Physical_Joints_compliance_report.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7382b4586db461e30c5f9e4d0647aeccf1ba2177
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/Physical_Joints_compliance_report.csv
@@ -0,0 +1,131 @@
+Dimension,1st_Deriv_Energy,2nd_Deriv_Energy (Accel),3rd_Deriv_Energy (Jerk),Max_Jerk_Peak,Mean_Abs_Jerk
+Physical_Joints_0,4.969149584497628,23372.00448881969,164059358.10777858,146934.91798919532,2346.4879613024536
+Physical_Joints_1,2.1953974617836383,19295.233668478726,360618310.67130834,315580.4051116823,3153.5807302611834
+Physical_Joints_2,23.28306122664366,95365.27989034734,1301257272.4115958,542259.5945371307,6349.13737819211
+Physical_Joints_3,135.4501782552782,1240735.4661165047,31016879196.75366,2462837.7067676354,33016.79186697364
+Physical_Joints_4,900.5570891851304,5548617.607283361,63677917678.04618,3040640.4088286646,41699.66216553597
+Physical_Joints_5,273.9678785321682,3144257.537236637,74641408892.48572,3471895.4062193385,51039.98172978986
+Physical_Joints_6,269.7513497100237,1668813.9436885652,19675657521.310364,1703259.9453041835,23380.557028080213
+Physical_Joints_7,56.31525272930693,524651.9973946863,13778482310.00508,1819810.973519681,21474.058154190076
+Physical_Joints_8,191.00041270323032,2036196.0051076843,44348498607.104576,2773482.9329614663,39397.212049026
+Physical_Joints_9,0.001025537377831669,5.370003115821228,19180.96767405665,2728.160842378996,20.658733388845317
+Physical_Joints_10,0.0207880616428331,128.47777866197592,493778.0267150112,14164.040352292359,64.24200147939807
+Physical_Joints_11,116.5535897806371,705698.6258334514,7839070816.338651,1091138.0166059572,14721.15056735763
+Physical_Joints_12,8.403143641256275,53941.696754918245,702298825.3893116,320931.8899653818,4412.373286067969
+Physical_Joints_13,1.8233559925911302,19304.94991625537,508382706.8944786,348843.92105955374,4078.064986375021
+Physical_Joints_14,0.3188228541322633,3745.2235714448084,85842041.16098444,117523.11679785719,1735.6987022748272
+Physical_Joints_15,13.484431789875588,81852.5221232505,826234204.0752941,348037.2495747854,4744.58189003236
+Physical_Joints_16,3.4827015230170772,32643.52384801547,862400522.7864746,454667.6914140723,5371.795044741146
+Physical_Joints_17,0.2854079220828563,3137.197871441842,69830674.68844682,108759.09643488552,1567.7307542801486
+Physical_Joints_18,13.133926379539048,83416.63080664334,1076115592.9548423,396100.633989223,5451.777966092521
+Physical_Joints_19,3.3431429745937566,36026.08447799875,886109623.628221,458567.215678955,5322.064791268473
+Physical_Joints_20,0.25625852338283095,2653.4904390787738,47498489.99661171,88657.50499863358,1278.958825520507
+Physical_Joints_21,18.509946062678807,115819.14289973151,1340320252.0490217,442941.9183694514,6088.051931411536
+Physical_Joints_22,2.635667274032208,20185.5170153887,504218170.3900463,345065.2421359887,4152.480424120165
+Physical_Joints_23,0.1697241272580245,1737.54073288397,39134756.13221555,81944.28271674119,1211.7504316920863
+Physical_Joints_24,2.2426882915506967,25396.117815594873,299367238.26894844,319636.0794284796,3968.392398096421
+Physical_Joints_25,0.29225611346556074,1419.8135680652697,12621473.666582122,37101.060285106854,1037.5980279130472
+Physical_Joints_26,0.30574989466336433,1535.7791892826763,12768587.68209807,41168.48253949312,1002.3125028906741
+Physical_Joints_27,1.3421966679316517,9208.84391271869,164879811.19409046,187814.66821304933,3616.0876226335995
+Physical_Joints_28,0.6156324718733827,7753.306307147893,84347605.09526624,165247.3426184339,2304.328273941585
+Physical_Joints_29,2.7278162713174487,16990.16397299118,338769876.9223949,181833.68273014075,5572.020683856826
+Physical_Joints_30,1.1327402554501023,15044.83022914305,324618204.2262659,151870.3422169653,5153.379958339567
+Physical_Joints_31,1.4714387141907743,19125.507140201815,352117152.84388995,179429.21645316432,5211.876135094324
+Physical_Joints_32,2.977361056857907,23177.228591655723,389493399.44504315,248013.4469756091,5621.122127838514
+Physical_Joints_33,0.37379810435780864,5183.298448682492,67042321.8028384,137192.68456652362,2256.2240788218337
+Physical_Joints_34,0.48112308734412496,1012.9053353128863,12613556.636350352,33652.09400808805,1183.7841693404694
+Physical_Joints_35,11.337059174098203,28512.479064153005,497525697.6171174,311686.1348839914,6181.057544724485
+Physical_Joints_36,0.5129058409373861,1117.784359747587,11907890.85248743,33667.762863498145,1122.3633148970757
+Physical_Joints_37,256.32705942911355,946234.8721067078,20503957274.24827,1916469.055194519,37825.91545499057
+Physical_Joints_38,1643.1563225360048,21652428.170051403,515035585195.559,9729716.200071275,167984.39680235332
+Physical_Joints_39,399.0686498630781,5479298.160548562,161876343905.84613,5843205.187759462,88246.109722974
+Physical_Joints_40,727.051051130776,9740563.64985244,165386795495.1116,5183440.944311039,124709.69703006734
+Physical_Joints_41,156.435036149807,1368032.0726687864,31091810039.39861,2594080.36339623,29326.744327776072
+Physical_Joints_42,1091.4528057590273,5349582.941505677,71055085630.70908,3092895.1901416364,44800.58465542736
+Physical_Joints_43,438.6970418376822,3587935.8919978086,78140467262.11697,2680213.546168715,79017.08111417237
+Physical_Joints_44,701.3339324293835,5178750.736482351,105768292489.53853,4805818.370198672,60060.019540980655
+Physical_Joints_45,616.7674726553075,4974667.069423449,125167165052.10672,4327899.643251422,79817.33045636452
+Physical_Joints_46,509.9674722229814,5594079.375539709,124591741589.98894,5180136.7200066345,82483.07965837752
+Physical_Joints_47,119.15310088507616,1082421.7015503426,16475246364.486143,1643888.7540995164,21771.05606217836
+Physical_Joints_48,241.76032411914144,1466858.1220045574,27868153850.59579,2277097.5910394145,34808.637923130795
+Physical_Joints_49,251.68726573386428,1460663.3875682305,28008643163.310726,1656451.912593918,34027.05737915694
+Physical_Joints_50,22.577707564783758,142083.98168787768,2479343227.6438594,625278.2993055525,9363.703378460916
+Physical_Joints_51,14.014126428832068,87592.80578109871,1285435462.9209454,374702.43688435253,11939.05259574927
+Physical_Joints_52,296.2933187175729,2826008.2110373,50184428099.586426,3156090.2222441435,41472.343438736156
+Physical_Joints_53,299.5833586222058,2484326.4768939195,44508600227.623604,2636935.523648831,37458.11823909871
+Physical_Joints_54,105.90082833374244,1450898.3791455023,34042698518.8597,2809144.7513821195,22973.452270989517
+Physical_Joints_55,155.51419914498604,2210237.2622879357,50142251768.9929,3528719.9012073018,27992.39653076381
+Physical_Joints_56,322.7616720988948,3547247.7507705004,82901451707.79099,3418042.04644457,67816.14562477586
+Physical_Joints_57,51.123083407649276,799462.1715117687,11359514779.936844,1860080.8566666304,15555.650617964413
+Physical_Joints_58,80.59383477823255,227390.40387921245,3918369976.919596,1022359.1652934758,14293.835495468158
+Physical_Joints_59,44.852391033686395,407185.57683730614,12843515417.011955,1908748.6236363137,15475.826246229768
+Physical_Joints_60,310.3982383317832,5143356.594461593,147951415756.50565,5058463.53894658,86377.56955363404
+Physical_Joints_61,278.6707973003577,7328629.610171136,238139312584.38428,8325461.192163543,55333.904200165234
+Physical_Joints_62,39.81868287840043,517824.83993657643,15673729325.054386,1873360.9831442074,19679.994223277135
+Physical_Joints_63,0.9201093373935941,12169.360992461938,311330040.8383996,177510.93670463213,5200.698020149132
+Physical_Joints_64,0.23540071197045956,3699.312372414984,95739543.225968,104698.97536971908,2236.1288954571714
+Physical_Joints_65,0.20824585587340055,3652.357753620116,96079260.3456911,104916.8053223737,2232.688600413499
+Physical_Joints_66,1.0251011131945345,13245.584416271984,306999628.4952144,174649.28141882317,5217.315208068165
+Physical_Joints_67,0.26076172436926937,3455.7799621158215,84169621.23648465,96921.89140385814,2715.9716179858474
+Physical_Joints_68,1.0825244184189315,15452.315801214829,418487064.3846927,174581.42477506286,5683.661580568411
+Physical_Joints_69,0.8191012690271001,12257.453190415521,270412184.92807394,157727.2643347037,4801.489656685936
+Physical_Joints_70,1.1078010054164027,10556.630019507284,241543211.30882826,160520.40415368596,4665.856488318374
+Physical_Joints_71,1.1148332108186003,15695.692638835371,422803673.34906447,176307.38389878455,5732.50256049502
+Physical_Joints_72,0.41278102107051157,4319.869088542298,84276876.6475258,95085.86589084778,2738.065641747781
+Physical_Joints_73,0.399493021283561,1090.3167759808118,16891074.518898252,51377.83217288893,1188.0677960373296
+Physical_Joints_74,2.5943598751902455,17431.153684886744,450907925.4140318,254741.53260105205,3763.2630825387346
+Physical_Joints_75,0.34960859048189796,821.3940032584101,15407010.922332933,47172.71624888763,1126.9834981311121
+Physical_Joints_76,130.67588109761945,702554.5075866391,13523571356.077545,1089223.9796612698,34017.829008230794
+Physical_Joints_77,956.5698908479219,10390904.007868066,248928089960.12494,5783724.177934632,132759.23155682153
+Physical_Joints_78,580.6256119684373,5025955.6452250825,110357492969.49669,3853153.0904496773,80105.11638096737
+Physical_Joints_79,820.7031623965513,11650091.776992174,304283866145.45966,6706818.946161414,130079.53170580583
+Physical_Joints_80,499.7876720223689,3876454.7538995724,66386645641.66854,3709626.958570619,44851.282681629906
+Physical_Joints_81,490.387484868261,2143881.5613122266,17791044597.92061,1700252.2220683575,41217.38765604591
+Physical_Joints_82,263.27511789084645,2167613.1940781325,52131547442.508804,3778870.1864480604,36115.24854865655
+Physical_Joints_83,498.78721358504635,3511764.250194413,52605350994.23528,2427960.0161556555,39299.942027849094
+Physical_Joints_84,196.50577529414218,1515352.854369772,34561670868.54495,2352429.7624280206,35999.69732951116
+Physical_Joints_85,506.0043666553015,3998090.177300178,76931381874.437,3579045.870041702,46253.161903085536
+Physical_Joints_86,535.128735526168,3892404.6255687415,87346340983.72513,4911375.874408779,39699.60868717849
+Physical_Joints_87,141.3854961823248,2106121.801838563,51435509537.25098,2451959.173196389,49369.07029549254
+Physical_Joints_88,634.0102789854224,5579544.81422568,123060557908.30801,6092412.284362099,47358.16880733038
+Physical_Joints_89,120.01853650159823,848840.8136239611,19920264985.859917,2048202.7654259123,22855.548003606913
+Physical_Joints_90,437.6956344697868,2576560.723605169,58599415729.037285,3779796.05923003,43837.528327440785
+Physical_Joints_91,141.13703366361804,2248284.3352478356,58226455620.96223,2394470.8451249264,63984.79590537701
+Physical_Joints_92,658.3114732803236,5109555.795688901,114129073021.65971,4789100.748824541,60034.41607011984
+Physical_Joints_93,88.64474032241768,703022.395455593,17134747433.104898,2407885.5345278396,18587.558513858286
+Physical_Joints_94,296.911087088912,2202198.0090215285,49164055761.51225,4261110.488844762,30123.620349271852
+Physical_Joints_95,145.7684238507885,2279801.588145862,54202423958.59212,2745155.862497741,40977.443344993866
+Physical_Joints_96,373.218707168335,2229105.137044056,42451814859.17842,2392973.0471896413,36129.90052647292
+Physical_Joints_97,303.63602599672146,2146216.035365549,37794508160.979675,3568727.1180332485,30476.25169794223
+Physical_Joints_98,9.237123154948298,56478.58598603847,934333697.675293,315748.173516922,9350.078204702364
+Physical_Joints_99,442.9790176367622,4933207.722498812,108121004455.82439,4853160.887983232,45865.92579857438
+Physical_Joints_100,26.494746231136887,367965.2745220715,4538793113.708466,1425990.094089245,9895.255812078916
+Physical_Joints_101,36.93328212291873,634408.6135203122,8555017494.443639,2070611.0540340596,8358.858975301368
+Physical_Joints_102,3214.4394863642983,18823084.393549018,213704846425.39337,6746687.221970267,66724.84944789836
+Physical_Joints_103,319.16246983815415,3808502.0011285036,93153538539.81245,4212893.653365146,53395.32435999897
+Physical_Joints_104,6404.482840092769,24589770.41073561,225677330861.45157,7767329.953814375,82636.74589145904
+Physical_Joints_105,0.3275344061070596,2142.805618760642,24183937.907862045,87203.45105320631,599.8867194938344
+Physical_Joints_106,0.23480504571352612,1687.8096021545293,17061083.402253356,58618.06338386094,572.8682057650278
+Physical_Joints_107,4777.846971087482,35095687.49084387,574714127104.1567,14765486.436451504,78709.86405554594
+Physical_Joints_108,28.478830392530465,241751.29289700935,3682843832.8109117,1140780.2763265448,6445.053997975789
+Physical_Joints_109,610.400918711152,4914557.807779578,76902889180.28265,5262919.417476534,28655.196371725266
+Physical_Joints_110,3610.7632591419733,46490175.3704678,1020654008828.0411,12171391.624079634,160495.19688911954
+Physical_Joints_111,875.0689919950273,7802320.276996968,178382870587.52948,5043655.899829722,75578.96982078529
+Physical_Joints_112,495.50112041387166,2977350.0815637438,47996636362.837654,2251743.507140215,45752.06725178967
+Physical_Joints_113,20.555759298401643,143325.56437734337,1581131277.3187835,715240.4110674665,4396.882826703348
+Physical_Joints_114,12.086861960193461,97892.22056734853,644432931.546093,404206.0294956326,2626.271993614134
+Physical_Joints_115,1343.9063382299746,5907374.073947503,57367533460.86665,3795227.7273956765,28615.598577253295
+Physical_Joints_116,3994.5105504114163,25546394.624117415,302849597888.35596,8514172.702218931,77751.24802371275
+Physical_Joints_117,308.18646487642906,2975078.0917566977,71544288746.68488,3782777.0624617497,52617.24201317836
+Physical_Joints_118,5326.671835509674,29267990.21939358,405434204691.30634,11008693.422462499,115119.56379175193
+Physical_Joints_119,0.12358459825345677,1344.3053316481216,26669196.451794036,97458.86633748405,579.232374421198
+Physical_Joints_120,0.08966883996079957,714.9323910789235,11009357.298081242,56178.4059328256,476.9006565675996
+Physical_Joints_121,4822.948739371413,41371748.80186766,708943001336.3063,16538137.939582823,90918.29503660432
+Physical_Joints_122,25.998113159362205,254928.29209008443,4518414866.25523,1260629.1224659793,7433.483243755905
+Physical_Joints_123,600.3891882857082,5551575.396244868,94912148344.7306,5812567.530493795,33816.497714853074
+Physical_Joints_124,3504.3166170793274,50068487.42333524,1139120041288.383,15121964.776365053,163789.68697802257
+Physical_Joints_125,2112.646157891999,12198384.432595992,180134993374.77545,4737317.833662195,98260.81970594997
+Physical_Joints_126,114.99068921025277,582542.5857396335,9518560270.723398,1203848.1581641128,23380.402043008664
+Physical_Joints_127,14.272776204771285,121227.46694761617,1783382166.7969828,795995.0888091058,4766.355210702877
+Physical_Joints_128,6.215805244567713,46981.99777218359,427056113.3782295,334364.84847405925,2380.476404809786
+Physical_Joints_129,1075.3204462210645,6023441.640621722,53592742431.697556,4157473.7099372954,29765.792754487098
diff --git a/data/sac/sac_walkandsit_checkpoints/best_model.zip b/data/sac/sac_walkandsit_checkpoints/best_model.zip
new file mode 100644
index 0000000000000000000000000000000000000000..570499a6052cd0af6acfcac93c605acecb424eeb
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/best_model.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f5b49cab3fe62b6bd40923fcb2372526be2c42c80b301898072a5efdf60c1b
+size 158507916
diff --git a/data/sac/sac_walkandsit_checkpoints/eval_Joint_jitter_report.png b/data/sac/sac_walkandsit_checkpoints/eval_Joint_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..78282837e54458b3016a40d81e9dfe8d2fb49348
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/eval_Joint_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ac615198b6430a242fa4baa273d907d872f91def8acc565890bb35722b1fcb
+size 292771
diff --git a/data/sac/sac_walkandsit_checkpoints/eval_Muscle_jitter_report.png b/data/sac/sac_walkandsit_checkpoints/eval_Muscle_jitter_report.png
new file mode 100644
index 0000000000000000000000000000000000000000..056ede0b0853fbed248be68c1e381a39b98d5c35
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/eval_Muscle_jitter_report.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ecfaa08c9cd050c55bb2c71359cdc7ec25b8b67dbce4dc01af4444b1b337d9
+size 431942
diff --git a/data/sac/sac_walkandsit_checkpoints/eval_sac_best_energy_plot.png b/data/sac/sac_walkandsit_checkpoints/eval_sac_best_energy_plot.png
new file mode 100644
index 0000000000000000000000000000000000000000..f074cb43c323f5761de5004944f0baf7ed4d6d42
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/eval_sac_best_energy_plot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050d20d3357b0fdc2ebe6f3f113827f05fc362dac5d1b8929f50c60b2b192404
+size 697688
diff --git a/data/sac/sac_walkandsit_checkpoints/vec_normalize.pkl b/data/sac/sac_walkandsit_checkpoints/vec_normalize.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b8b0a12ebc2be4a4517ce0fbcabbec9c63e73df
--- /dev/null
+++ b/data/sac/sac_walkandsit_checkpoints/vec_normalize.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21849791679107987c90cb00c3d36863c9e24e6e8f9d0e1da0beb92d43b0c6c3
+size 305929
diff --git a/data/sac/sac_walkandsit_logs/SAC_1/events.out.tfevents.1778914473.discover-01.2291565.0 b/data/sac/sac_walkandsit_logs/SAC_1/events.out.tfevents.1778914473.discover-01.2291565.0
new file mode 100644
index 0000000000000000000000000000000000000000..f4bb4de25e6319bdab7f2d2e26ac016693a8801a
--- /dev/null
+++ b/data/sac/sac_walkandsit_logs/SAC_1/events.out.tfevents.1778914473.discover-01.2291565.0
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f858a57f4501ffb0a4e51f775be714de9e7ae9a71134dccf429a573457a601e
+size 28482156
diff --git a/data/sac/sac_walkandsit_logs/eval_logs/evaluations.npz b/data/sac/sac_walkandsit_logs/eval_logs/evaluations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5c810ce94f4ee86e865cf2d1a6ce96730926c34
--- /dev/null
+++ b/data/sac/sac_walkandsit_logs/eval_logs/evaluations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514118fbf220c0ae6a842fa93fa7842f036860682632245b81b2026d3fd9a0d2
+size 69818