add N021/sawyer_umi/dr_off/seed_1038

N021/sawyer_umi/dr_off/seed_1038/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1370 rows vs ceil(2739/2) = 1370"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2769, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.81 MB, 1370 frames at 25 fps, mean luma 101..140, std 35, new picture 1369x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1370 vs 1370"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.90 MB, 1370 frames at 25 fps, mean luma 99..136, std 39, new picture 1369x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1370 vs 1370"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N021/sawyer_umi/dr_off/seed_1038/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n021_saw_off_1038/out  task=N021  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n021_saw_off_1038/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1370  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1370 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'
+rows 1370 at dataset fps 25 = 54.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1370 rows vs ceil(2739/2) = 1370
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2769, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.81 MB, 1370 frames at 25 fps, mean luma 101..140, std 35, new picture 1369x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1370 vs 1370
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.90 MB, 1370 frames at 25 fps, mean luma 99..136, std 39, new picture 1369x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1370 vs 1370
+parquet size 2.06 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 39.94 MB; whole cell dir 40.9 MB
+RESULT: ALL PASS

N021/sawyer_umi/dr_off/seed_1038/report.json

@@ -0,0 +1,1779 @@
+{
+  "task": "N021",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1038,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/scratch/xc536/magicsim_atomic/MagicSim/src/magicsim/Collect/Task/MobileAssembly/Conf/n021_peg_insertion.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1038,
+    "rack_peg": {
+      "dx": 0.01125,
+      "dy": -0.01643,
+      "yaw_deg": -2.94016
+    },
+    "hole_block": {
+      "dx": -0.07473,
+      "dy": -0.00636,
+      "yaw_deg": -4.46242
+    },
+    "peg_mass": 0.03783,
+    "peg_friction": 1.14247,
+    "light": 895.52637,
+    "spawn": {
+      "dx": -0.0452,
+      "dy": -0.10879,
+      "yaw_deg": -2.1484
+    },
+    "overrides": {
+      "env.scene.objects.peg_rack.common.pos": [
+        -1.98875,
+        1.28357,
+        0.43
+      ],
+      "env.scene.objects.peg_rack.common.ori": [
+        0.0,
+        0.0,
+        -2.94016
+      ],
+      "env.scene.objects.peg.common.pos": [
+        -1.98875,
+        1.28357,
+        0.511
+      ],
+      "env.scene.objects.peg.common.ori": [
+        0.0,
+        0.0,
+        87.05984
+      ],
+      "env.scene.objects.hole_block.common.pos": [
+        1.12527,
+        2.81364,
+        0.43
+      ],
+      "env.scene.objects.hole_block.common.ori": [
+        0.0,
+        0.0,
+        -4.46242
+      ],
+      "env.scene.objects.peg.peg_1.physics.mass": 0.03783,
+      "env.scene.objects.peg.peg_1.physics.physics_material.static_friction": 1.14247,
+      "env.scene.objects.peg.peg_1.physics.physics_material.dynamic_friction": 1.14247,
+      "env.scene.background.intensity": [
+        895.52637,
+        895.52637
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.6452,
+          -2.60879,
+          0.06
+        ],
+        [
+          -3.6452,
+          -2.60879,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          57.8516
+        ],
+        [
+          0,
+          0,
+          57.8516
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N021",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N021",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2769,
+  "task_id": "N021",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "peg_insertion",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    },
+    "B": {
+      "center": [
+        1.2,
+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
+  },
+  "spawn_pose": [
+    -3.645199775695801,
+    -2.6087896823883057,
+    1.0097008264052314
+  ],
+  "base_path": [
+    [
+      -3.645,
+      -2.609,
+      1.01
+    ],
+    [
+      -3.645,
+      -2.609,
+      1.01
+    ],
+    [
+      -3.645,
+      -2.609,
+      1.01
+    ],
+    [
+      -3.645,
+      -2.609,
+      1.01
+    ],
+    [
+      -3.633,
+      -2.588,
+      1.04
+    ],
+    [
+      -3.605,
+      -2.539,
+      1.066
+    ],
+    [
+      -3.577,
+      -2.486,
+      1.084
+    ],
+    [
+      -3.551,
+      -2.432,
+      1.096
+    ],
+    [
+      -3.525,
+      -2.378,
+      1.103
+    ],
+    [
+      -3.499,
+      -2.324,
+      1.108
+    ],
+    [
+      -3.473,
+      -2.269,
+      1.112
+    ],
+    [
+      -3.448,
+      -2.215,
+      1.114
+    ],
+    [
+      -3.422,
+      -2.161,
+      1.116
+    ],
+    [
+      -3.396,
+      -2.107,
+      1.117
+    ],
+    [
+      -3.371,
+      -2.052,
+      1.117
+    ],
+    [
+      -3.345,
+      -1.998,
+      1.118
+    ],
+    [
+      -3.319,
+      -1.944,
+      1.118
+    ],
+    [
+      -3.294,
+      -1.89,
+      1.118
+    ],
+    [
+      -3.268,
+      -1.835,
+      1.118
+    ],
+    [
+      -3.243,
+      -1.781,
+      1.119
+    ],
+    [
+      -3.217,
+      -1.727,
+      1.119
+    ],
+    [
+      -3.191,
+      -1.673,
+      1.119
+    ],
+    [
+      -3.166,
+      -1.618,
+      1.119
+    ],
+    [
+      -3.138,
+      -1.565,
+      1.119
+    ],
+    [
+      -3.113,
+      -1.511,
+      1.119
+    ],
+    [
+      -3.087,
+      -1.457,
+      1.119
+    ],
+    [
+      -3.06,
+      -1.403,
+      1.119
+    ],
+    [
+      -3.034,
+      -1.349,
+      1.119
+    ],
+    [
+      -3.008,
+      -1.295,
+      1.119
+    ],
+    [
+      -2.982,
+      -1.241,
+      1.119
+    ],
+    [
+      -2.955,
+      -1.187,
+      1.119
+    ],
+    [
+      -2.929,
+      -1.133,
+      1.119
+    ],
+    [
+      -2.904,
+      -1.079,
+      1.119
+    ],
+    [
+      -2.877,
+      -1.025,
+      1.119
+    ],
+    [
+      -2.85,
+      -0.971,
+      1.119
+    ],
+    [
+      -2.824,
+      -0.917,
+      1.119
+    ],
+    [
+      -2.799,
+      -0.863,
+      1.119
+    ],
+    [
+      -2.772,
+      -0.809,
+      1.119
+    ],
+    [
+      -2.746,
+      -0.755,
+      1.119
+    ],
+    [
+      -2.72,
+      -0.701,
+      1.119
+    ],
+    [
+      -2.694,
+      -0.647,
+      1.119
+    ],
+    [
+      -2.667,
+      -0.594,
+      1.119
+    ],
+    [
+      -2.641,
+      -0.539,
+      1.119
+    ],
+    [
+      -2.615,
+      -0.485,
+      1.119
+    ],
+    [
+      -2.588,
+      -0.432,
+      1.119
+    ],
+    [
+      -2.562,
+      -0.378,
+      1.119
+    ],
+    [
+      -2.537,
+      -0.323,
+      1.119
+    ],
+    [
+      -2.51,
+      -0.27,
+      1.119
+    ],
+    [
+      -2.483,
+      -0.216,
+      1.119
+    ],
+    [
+      -2.458,
+      -0.162,
+      1.119
+    ],
+    [
+      -2.432,
+      -0.107,
+      1.119
+    ],
+    [
+      -2.405,
+      -0.054,
+      1.119
+    ],
+    [
+      -2.379,
+      0.0,
+      1.119
+    ],
+    [
+      -2.353,
+      0.054,
+      1.119
+    ],
+    [
+      -2.327,
+      0.108,
+      1.119
+    ],
+    [
+      -2.3,
+      0.162,
+      1.119
+    ],
+    [
+      -2.274,
+      0.216,
+      1.119
+    ],
+    [
+      -2.249,
+      0.27,
+      1.119
+    ],
+    [
+      -2.217,
+      0.322,
+      1.119
+    ],
+    [
+      -2.183,
+      0.366,
+      1.119
+    ],
+    [
+      -2.154,
+      0.403,
+      1.119
+    ],
+    [
+      -2.129,
+      0.435,
+      1.119
+    ],
+    [
+      -2.109,
+      0.461,
+      1.119
+    ],
+    [
+      -2.092,
+      0.483,
+      1.119
+    ],
+    [
+      -2.077,
+      0.502,
+      1.119
+    ],
+    [
+      -2.064,
+      0.518,
+      1.119
+    ],
+    [
+      -2.06,
+      0.525,
+      1.205
+    ],
+    [
+      -2.06,
+      0.525,
+      1.301
+    ],
+    [
+      -2.059,
+      0.525,
+      1.372
+    ],
+    [
+      -2.059,
+      0.525,
+      1.424
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.059,
+      0.525,
+      1.47
+    ],
+    [
+      -2.058,
+      0.525,
+      1.326
+    ],
+    [
+      -2.058,
+      0.525,
+      1.166
+    ],
+    [
+      -2.058,
+      0.525,
+      1.006
+    ],
+    [
+      -2.058,
+      0.525,
+      0.846
+    ],
+    [
+      -2.058,
+      0.525,
+      0.705
+    ],
+    [
+      -2.041,
+      0.537,
+      0.576
+    ],
+    [
+      -1.995,
+      0.564,
+      0.486
+    ],
+    [
+      -1.951,
+      0.583,
+      0.426
+    ],
+    [
+      -1.913,
+      0.596,
+      0.386
+    ],
+    [
+      -1.868,
+      0.61,
+      0.36
+    ],
+    [
+      -1.826,
+      0.621,
+      0.342
+    ],
+    [
+      -1.786,
+      0.632,
+      0.331
+    ],
+    [
+      -1.741,
+      0.643,
+      0.323
+    ],
+    [
+      -1.704,
+      0.653,
+      0.318
+    ],
+    [
+      -1.659,
+      0.665,
+      0.314
+    ],
+    [
+      -1.619,
+      0.676,
+      0.312
+    ],
+    [
+      -1.579,
+      0.687,
+      0.311
+    ],
+    [
+      -1.536,
+      0.699,
+      0.31
+    ],
+    [
+      -1.499,
+      0.709,
+      0.309
+    ],
+    [
+      -1.455,
+      0.722,
+      0.308
+    ],
+    [
+      -1.415,
+      0.735,
+      0.308
+    ],
+    [
+      -1.376,
+      0.746,
+      0.308
+    ],
+    [
+      -1.333,
+      0.759,
+      0.306
+    ],
+    [
+      -1.298,
+      0.77,
+      0.29
+    ],
+    [
+      -1.254,
+      0.783,
+      0.279
+    ],
+    [
+      -1.215,
+      0.795,
+      0.271
+    ],
+    [
+      -1.176,
+      0.805,
+      0.264
+    ],
+    [
+      -1.133,
+      0.816,
+      0.26
+    ],
+    [
+      -1.097,
+      0.825,
+      0.257
+    ],
+    [
+      -1.053,
+      0.836,
+      0.256
+    ],
+    [
+      -1.014,
+      0.846,
+      0.254
+    ],
+    [
+      -0.975,
+      0.856,
+      0.254
+    ],
+    [
+      -0.932,
+      0.867,
+      0.253
+    ],
+    [
+      -0.896,
+      0.876,
+      0.253
+    ],
+    [
+      -0.852,
+      0.887,
+      0.252
+    ],
+    [
+      -0.813,
+      0.897,
+      0.252
+    ],
+    [
+      -0.774,
+      0.907,
+      0.252
+    ],
+    [
+      -0.731,
+      0.918,
+      0.252
+    ],
+    [
+      -0.695,
+      0.927,
+      0.252
+    ],
+    [
+      -0.651,
+      0.939,
+      0.252
+    ],
+    [
+      -0.612,
+      0.949,
+      0.252
+    ],
+    [
+      -0.574,
+      0.959,
+      0.252
+    ],
+    [
+      -0.531,
+      0.969,
+      0.252
+    ],
+    [
+      -0.495,
+      0.978,
+      0.252
+    ],
+    [
+      -0.451,
+      0.99,
+      0.252
+    ],
+    [
+      -0.412,
+      1.0,
+      0.252
+    ],
+    [
+      -0.374,
+      1.01,
+      0.252
+    ],
+    [
+      -0.331,
+      1.021,
+      0.252
+    ],
+    [
+      -0.295,
+      1.03,
+      0.252
+    ],
+    [
+      -0.251,
+      1.041,
+      0.252
+    ],
+    [
+      -0.212,
+      1.051,
+      0.252
+    ],
+    [
+      -0.173,
+      1.061,
+      0.252
+    ],
+    [
+      -0.131,
+      1.072,
+      0.252
+    ],
+    [
+      -0.095,
+      1.081,
+      0.252
+    ],
+    [
+      -0.051,
+      1.092,
+      0.252
+    ],
+    [
+      -0.012,
+      1.102,
+      0.252
+    ],
+    [
+      0.027,
+      1.113,
+      0.252
+    ],
+    [
+      0.069,
+      1.124,
+      0.252
+    ],
+    [
+      0.105,
+      1.133,
+      0.252
+    ],
+    [
+      0.148,
+      1.144,
+      0.252
+    ],
+    [
+      0.187,
+      1.154,
+      0.252
+    ],
+    [
+      0.226,
+      1.164,
+      0.252
+    ],
+    [
+      0.268,
+      1.175,
+      0.252
+    ],
+    [
+      0.304,
+      1.184,
+      0.252
+    ],
+    [
+      0.348,
+      1.195,
+      0.252
+    ],
+    [
+      0.387,
+      1.205,
+      0.252
+    ],
+    [
+      0.426,
+      1.215,
+      0.252
+    ],
+    [
+      0.469,
+      1.227,
+      0.252
+    ],
+    [
+      0.505,
+      1.236,
+      0.252
+    ],
+    [
+      0.549,
+      1.247,
+      0.252
+    ],
+    [
+      0.588,
+      1.257,
+      0.252
+    ],
+    [
+      0.627,
+      1.268,
+      0.252
+    ],
+    [
+      0.669,
+      1.279,
+      0.252
+    ],
+    [
+      0.705,
+      1.288,
+      0.252
+    ],
+    [
+      0.748,
+      1.3,
+      0.252
+    ],
+    [
+      0.787,
+      1.31,
+      0.252
+    ],
+    [
+      0.826,
+      1.32,
+      0.252
+    ],
+    [
+      0.869,
+      1.331,
+      0.252
+    ],
+    [
+      0.904,
+      1.34,
+      0.252
+    ],
+    [
+      0.948,
+      1.355,
+      0.252
+    ],
+    [
+      0.987,
+      1.369,
+      0.252
+    ],
+    [
+      1.021,
+      1.381,
+      0.252
+    ],
+    [
+      1.05,
+      1.392,
+      0.252
+    ],
+    [
+      1.074,
+      1.401,
+      0.252
+    ],
+    [
+      1.094,
+      1.409,
+      0.252
+    ],
+    [
+      1.11,
+      1.417,
+      0.283
+    ],
+    [
+      1.111,
+      1.418,
+      0.443
+    ],
+    [
+      1.111,
+      1.418,
+      0.603
+    ],
+    [
+      1.111,
+      1.418,
+      0.763
+    ],
+    [
+      1.111,
+      1.418,
+      0.923
+    ],
+    [
+      1.111,
+      1.418,
+      1.082
+    ],
+    [
+      1.111,
+      1.418,
+      1.21
+    ],
+    [
+      1.111,
+      1.418,
+      1.305
+    ],
+    [
+      1.112,
+      1.418,
+      1.375
+    ],
+    [
+      1.112,
+      1.418,
+      1.426
+    ],
+    [
+      1.11,
+      1.425,
+      1.441
+    ],
+    [
+      1.109,
+      1.461,
+      1.447
+    ],
+    [
+      1.11,
+      1.499,
+      1.452
+    ],
+    [
+      1.111,
+      1.538,
+      1.46
+    ],
+    [
+      1.112,
+      1.575,
+      1.465
+    ],
+    [
+      1.113,
+      1.614,
+      1.472
+    ],
+    [
+      1.113,
+      1.652,
+      1.478
+    ],
+    [
+      1.114,
+      1.69,
+      1.485
+    ],
+    [
+      1.115,
+      1.728,
+      1.491
+    ],
+    [
+      1.115,
+      1.767,
+      1.497
+    ],
+    [
+      1.116,
+      1.804,
+      1.504
+    ],
+    [
+      1.116,
+      1.843,
+      1.51
+    ],
+    [
+      1.116,
+      1.881,
+      1.517
+    ],
+    [
+      1.117,
+      1.919,
+      1.523
+    ],
+    [
+      1.117,
+      1.958,
+      1.529
+    ],
+    [
+      1.118,
+      1.996,
+      1.536
+    ],
+    [
+      1.118,
+      2.027,
+      1.537
+    ],
+    [
+      1.119,
+      2.049,
+      1.537
+    ],
+    [
+      1.12,
+      2.066,
+      1.537
+    ],
+    [
+      1.12,
+      2.079,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ],
+    [
+      1.121,
+      2.087,
+      1.537
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 540,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.329,
+        0.103
+      ]
+    },
+    {
+      "step": 691,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 691,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 700,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 700,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1184,
+      "event": "picked",
+      "part": [
+        -1.9886,
+        1.2839,
+        0.5412
+      ],
+      "gap_mm": 15.0,
+      "lift_mm": 31.2
+    },
+    {
+      "step": 1238,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1238,
+      "event": "stage_start",
+      "stage": "carry"
+    },
+    {
+      "step": 1322,
+      "event": "stage_done",
+      "stage": "carry",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1322,
+      "event": "stage_start",
+      "stage": "nav_B"
+    },
+    {
+      "step": 2270,
+      "event": "stage_done",
+      "stage": "nav_B",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 2270,
+      "event": "stage_start",
+      "stage": "stance_B"
+    },
+    {
+      "step": 2304,
+      "event": "enter_zone",
+      "zone": "B",
+      "base": [
+        1.11,
+        1.511
+      ]
+    },
+    {
+      "step": 2479,
+      "event": "stage_done",
+      "stage": "stance_B",
+      "skill_state": "finished"
+    },
+    {
+      "step": 2479,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 2479,
+      "event": "wp_start",
+      "name": "pre_insert",
+      "kind": "plan"
+    },
+    {
+      "step": 2479,
+      "event": "assemble_start",
+      "t_l6_part": [
+        0.2321,
+        0.0075,
+        0.0056,
+        0.498,
+        0.501,
+        -0.4989,
+        -0.5022
+      ]
+    },
+    {
+      "step": 2628,
+      "event": "wp_done",
+      "name": "pre_insert"
+    },
+    {
+      "step": 2628,
+      "event": "wp_start",
+      "name": "align",
+      "kind": "servo"
+    },
+    {
+      "step": 2693,
+      "event": "wp_done",
+      "name": "align"
+    },
+    {
+      "step": 2693,
+      "event": "wp_start",
+      "name": "insert",
+      "kind": "servo"
+    },
+    {
+      "step": 2730,
+      "event": "wp_done",
+      "name": "insert"
+    },
+    {
+      "step": 2730,
+      "event": "release_start"
+    },
+    {
+      "step": 2740,
+      "event": "released",
+      "gap_mm": 39.5
+    },
+    {
+      "step": 2769,
+      "event": "success",
+      "ok": true,
+      "depth_mm": 40.0,
+      "lateral_mm": 1.84,
+      "axis_deg": 0.0
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A",
+    "B"
+  ],
+  "interstation_path_lengths": {
+    "S": 3.014,
+    "S->A": 3.899,
+    "A->B": 0.577
+  },
+  "base_path_length": 7.49,
+  "distance_to_first_interaction": 3.519,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "depth_mm": 40.0,
+    "lateral_mm": 1.84,
+    "axis_deg": 0.0
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 701.1
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d86f0977530a03c28d4fa44cd968dbf94833e91e6e471067a1f051c1193ce0
+size 2061553

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole."], "length": 1370, "magicsim/control_steps": 2739, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is in front of the hole block. The hole block is on top of the gray table B. The hole block is behind the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height."}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.13716960904344808, -0.00043864545895017847, 0.009504426834572881, -0.8410802401112814, 1.1202335822321203, 0.9483489380265675, 0.03140301728584161, 0.32530746694898954, -0.008695676737213439, -0.3425086106479603, 0.5963503649635037], "std": [0.12198492502652783, 0.008867074193380902, 0.17921597641508294, 1.6350170448404586, 1.1164126513308754, 0.2226010527646936, 0.32411098322184334, 0.49875076524298956, 0.37682498741105275, 0.5291537566061609, 0.49062878754859734], "min": [0.0, -0.06064680218696594, -0.800000011920929, -3.499431610107422, -2.0683653354644775, 0.7291308641433716, -0.4899214506149292, -0.7117365598678589, -0.4805377423763275, -0.7093927264213562, 0.0], "max": [0.30000001192092896, 0.032219983637332916, 0.800000011920929, 1.715099573135376, 2.839918851852417, 1.3033760786056519, 0.524880051612854, 0.7154129147529602, 0.5636022090911865, 0.714989185333252, 1.0], "count": [1370]}, "action_is_hold": {"mean": [0.010218978102189781, 0.010218978102189781, 0.010218978102189781, 0.050364963503649635, 0.050364963503649635, 0.050364963503649635, 0.050364963503649635, 0.050364963503649635, 0.050364963503649635, 0.050364963503649635, 0.8700729927007299], "std": [0.10057112204174969, 0.10057112204174969, 0.10057112204174969, 0.21869689973779774, 0.21869689973779774, 0.21869689973779774, 0.21869689973779774, 0.21869689973779774, 0.21869689973779774, 0.21869689973779774, 0.336223110558334], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1370]}, "observation.state": {"mean": [0.44577177336616236, -3.0699159416839152, 1.0190980982171358, 0.060213920581735365, 5.156381078836574e-07, -1.504407047355262, -0.4104802117977062, 1.4507604498932831, -0.020657427497147534, 1.7660527164483593, 0.978091294170095, 0.008466421494360951, -0.006971581667486501, -0.006971581667486501, -0.008466421494360951], "std": [1.705083435185393, 0.8549982261350626, 0.5140834945578414, 0.11115449186091039, 2.4153663962203195e-05, 0.15705806070957443, 0.2770261335600751, 0.6191185303628595, 0.1802468274767488, 0.6091802992611867, 0.6914144981757995, 0.007372423412493605, 0.0074329908709903775, 0.0074329908709903775, 0.007372423412493605], "min": [-3.64520001411438, -4.493809700012207, 0.25192904472351074, -0.27160143852233887, -0.00019742890435736626, -1.6309146881103516, -0.9752980470657349, 0.4888288378715515, -0.2726508378982544, 0.9430461525917053, -0.022132813930511475, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.866633176803589, -2.2567710876464844, 1.5367518663406372, 0.45812883973121643, 0.0005245259962975979, -1.064571738243103, 0.001063283532857895, 1.95444655418396, 0.6280258297920227, 2.7054567337036133, 2.6785173416137695, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1370]}, "observation.joint_vel": {"mean": [0.11883039132721265, -0.028045906951529247, 0.009716325475946627, 0.0061171485100130814, 0.0002735398223251195, 0.009558115457298403, -0.016931258977149637, 0.023847924838114886, 0.005051715178352927, -0.0340080576266269, 0.04271090761735011, 0.008521809275255046, 0.014297235351672752], "std": [0.11332203519266525, 0.07566789268975606, 0.1787603140644915, 0.07700450925009074, 0.0011376792345096321, 0.05985098317628231, 0.07997531489442652, 0.08822505977179874, 0.0945795824715331, 0.09822541113370299, 0.11651490408636477, 0.05047867238611875, 0.051445399672368955], "min": [-0.0002997743431478739, -0.17267724871635437, -0.8000212907791138, -0.32441437244415283, -0.020926298573613167, -0.13803280889987946, -0.19315305352210999, -0.207740917801857, -0.32687631249427795, -0.35562947392463684, -0.262324720621109, -0.10006751865148544, -0.10009422153234482], "max": [0.30503061413764954, 0.12048095464706421, 0.8000270128250122, 0.18889521062374115, 0.013066616840660572, 0.17146828770637512, 0.22588524222373962, 0.20438605546951294, 0.3565838932991028, 0.2791416049003601, 0.41316184401512146, 0.10001461207866669, 0.10000003129243851], "count": [1370]}, "observation.eef_pose": {"mean": [-0.8405271485879555, 1.1192593742070216, 0.9511054407071023, -0.0015927896617374715, 0.5911004643805706, -0.09340513046613358, -0.6279757182528503], "std": [1.63618229138699, 1.115035850696109, 0.22344885334386902, 0.3248577337086454, 0.08081653633198264, 0.3629566383388386, 0.06097699911353241], "min": [-3.5025484561920166, -2.0683653354644775, 0.7291404008865356, -0.49954360723495483, 0.41644445061683655, -0.5603216290473938, -0.7230894565582275], "max": [1.7162717580795288, 2.8410542011260986, 1.3054901361465454, 0.5248798131942749, 0.7180461883544922, 0.5113266110420227, -0.4886890947818756], "count": [1370]}, "observation.environment_state": {"mean": [1.1252700090408325, 2.8136401176452637, 0.4300000071525574, 0.999241828918457, 0.0, 0.0, -0.03893285617232323, -0.6866409761712412, 1.4980611031942994, 0.5466074244384348, 0.827533788228557, -0.02089886904964937, 0.05101882305177985, 0.47183893908952124, -1.9887499809265137, 1.2835700511932373, 0.4300000071525574, 0.9996708631515503, 0.0, 0.0, -0.025654733180999756, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4195334962154842, 0.5756188203199045, 0.034956357638353995, 0.1250088423903177, 0.028541883860538603, 0.05391921299667403, 0.2648905992036015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [1.1252700090408325, 2.8136401176452637, 0.4300000071525574, 0.999241828918457, 0.0, 0.0, -0.03893285617232323, -1.9923242330551147, 0.7941547632217407, 0.49500006437301636, 0.6824215650558472, -0.1007048562169075, -0.002832474885508418, -0.0014522189740091562, -1.9887499809265137, 1.2835700511932373, 0.4300000071525574, 0.9996708631515503, 0.0, 0.0, -0.025654733180999756, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "max": [1.1252700090408325, 2.8136401176452637, 0.4300000071525574, 0.999241828918457, 0.0, 0.0, -0.03893285617232323, 1.6608407497406006, 2.836261510848999, 0.6578233242034912, 1.0, 0.022756239399313927, 0.17478862404823303, 0.7220567464828491, -1.9887499809265137, 1.2835700511932373, 0.4300000071525574, 0.9996708631515503, 0.0, 0.0, -0.025654733180999756, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "count": [1370]}, "action.command": {"mean": [-2.2847065467708156, -0.467469401049035, 1.4023742588282158, 0.7234137229400106, 0.0, 0.0, 0.6902231591762883, 0.9338970023059185, -0.839573546728659, 1.0848466338422278, 0.9560167700579127, 0.022884630358071575, 0.3248030961155433, -0.018614872514794965, -0.3429489354964497, 0.16853932584269662, -2.6844909576155382, -0.75286838415987, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.6382057506845604, -0.6849981657466533, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.58814936631955, -0.6540324904163431, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.5144812592808505, -0.58476957267856, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.4873360014850308, -0.5586422348614806, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.3936579120825536, -0.4901413267443639, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.331778314246894, -0.4480934163798457, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.2739238466535294, -0.3975062989300082, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.1931565865226412, -0.34375607774864814, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.1584207753957427, -0.3066117610990631, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.109411573113862, -0.25732396641132993, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -2.0194565731546152, -0.20826800047240643, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.93511697461146, -0.14658626192104743, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.9159781577424233, -0.1255491496613307, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.8439757302681112, -0.061935899864812814, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.799268504995737, -0.0394246144324356, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.7634235738967516, 0.01945960995573435, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.6682824441364834, 0.05037466813318477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.5874483614974881, 0.12600049158060772, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.5379271430258425, 0.140011559658169, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.444903399929497, 0.17974726213431508, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.4112901299636555, 0.22869145648079628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.3782655561192436, 0.24041830656691368, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.2870638988773275, 0.316750789355047, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.260456701465275, 0.3319611756697945, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.163443140583749, 0.40465431872361934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.1019677179848186, 0.43344347262234423, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -1.0398909446245395, 0.4925401472527048, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.9433032782551665, 0.5353726600638088, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.9163387486653298, 0.5804260398475279, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.8871297061073113, 0.610649138244783, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.7930282600918171, 0.6682496591754582, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.7513422863083596, 0.7066526064128609, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.6696237805467214, 0.7563622371010158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.5932262879721126, 0.8084189866085231, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.5456467708445484, 0.8456537685779311, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.43531754890584057, 0.909758852875751, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.4204358551072778, 0.9374858035804322, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.3958887741432427, 0.9796617179183487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.2932025195648952, 1.0327503481266662, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.2449160229345286, 1.0775357863177424, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, -0.15893441194332905, 1.0689021005393555, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0089991309257769, 0.5816636495708679, 1.0048219784446384, 0.0011253890043460065, 0.5536239073143242, -0.08595979421035103, -0.602534244001282, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.18303217962069854, 1.2255864176066114, 0.7963499426841736, -0.2998147652119021, 0.5535044141962558, -0.44112129182503695, -0.623745294562875, 0.0], "std": [1.4114702839134052, 1.67785706118676, 0.475484497047573, 0.011195731844142392, 0.0, 0.0, 0.01179938368188131, 1.3807491483827374, 1.6410545974591066, 1.1225055097425667, 0.22241854336385375, 0.3253584615644504, 0.4966226618744854, 0.37959064859104635, 0.5286183662402351, 0.3743445224484872, 0.8005356427879358, 1.5460983445774419, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.7771610780164533, 1.4750471417047093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8014052865434933, 1.4647151216265077, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8094373200238473, 1.4123787098569105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8116905572574955, 1.3921450336716048, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8447500417489153, 1.3562737538282168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8703231757397494, 1.3375954471724072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.8810751189020972, 1.302461657612193, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9157751130761885, 1.2798563457094754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9143275838302934, 1.2481484574838846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9159257433988975, 1.208300724822712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.967187154419266, 1.2000643901686965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.992573818863438, 1.1587642304298464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9903931985844256, 1.138923553918248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9997092265210753, 1.0873754291060498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.0246559366290422, 1.0806286805287013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.9985929608061204, 1.0144959858856049, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.0708487663353963, 1.025404513022432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.0765583770425622, 0.9612733011951508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.1165143019273305, 0.9700446433153778, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.1764356953843131, 0.9665707608265826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.1590726471886947, 0.913884960615715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.1830300392747761, 0.9161905489252918, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.1996166198315248, 0.8572067529734263, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.2124183789038667, 0.8504955796650454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.2396544294244467, 0.8003982982004771, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.276400597296094, 0.7943410587521296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.2796351440834215, 0.7435750766114433, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.340076176959681, 0.7376267919233582, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.3196158587424138, 0.6867519210111495, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.318412003958369, 0.6592718660849525, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.3593943911998807, 0.6298767516107532, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.3630124224496039, 0.597692303622274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.3989528145117185, 0.5726279758974299, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.426254003261814, 0.5408922624151055, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.4378261426088412, 0.5139685219897016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.4897435698009227, 0.4846026185360162, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.4752228184244776, 0.4522687756809186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.4552863849028255, 0.40422743974814224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.511025147354988, 0.38667413865078853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.5148756056505226, 0.3489449675141552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 1.5384879058962704, 0.391838388989836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.669798622195406, 1.0273260888878764, 0.2494726735515794, 0.367578693614757, 0.037987367027116914, 0.4305429334475029, 0.033737405222812725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.057520155486904, 0.30380740824612684, 0.0, 0.09527186490698039, 0.048604109771324025, 0.08895029725043566, 0.02732041741718955, 0.0], "min": [-3.6452555656433105, -2.6087775230407715, 0.06000000238418579, 0.7105773687362671, 0.0, 0.0, 0.6643168926239014, -1.0, -3.499431610107422, -2.0683653354644775, 0.7291308641433716, -0.4899214506149292, -0.7117365598678589, -0.4805377423763275, -0.7093927264213562, 0.0, -3.642469644546509, -2.603041172027588, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.5682127475738525, -2.450145959854126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.547168731689453, -2.406816244125366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.483112335205078, -2.274923801422119, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.4586634635925293, -2.224583387374878, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.4045467376708984, -2.113156318664551, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.37326979637146, -2.0487565994262695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.328281879425049, -1.9561258554458618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.289039134979248, -1.8753244876861572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.2525711059570312, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.205474376678467, -1.703263759613037, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.1768624782562256, -1.644351601600647, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.1229023933410645, -1.5332471132278442, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.101154088973999, -1.4884672164916992, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.040299892425537, -1.3631677627563477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -3.0254456996917725, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.958411931991577, -1.1945594549179077, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.949737310409546, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.8757357597351074, -1.0243284702301025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.8740286827087402, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.8527112007141113, -0.976921021938324, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.7983200550079346, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.7939646244049072, -0.8559613823890686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.722611665725708, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.7113239765167236, -0.6858031749725342, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.6469030380249023, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.6294007301330566, -0.5171223282814026, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.571194648742676, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.5469350814819336, -0.34732475876808167, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.495486259460449, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.464836597442627, -0.17828312516212463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.4197776317596436, -0.08550629019737244, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.3824212551116943, -0.008589111268520355, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.3437116146087646, 0.07111430168151855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.2999846935272217, 0.1611482948064804, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.2662532329559326, 0.230601966381073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.2180521488189697, 0.32984840869903564, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.185793876647949, 0.396268367767334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.1373894214630127, 0.49593400955200195, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.1014041900634766, 0.5700281858444214, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.499431610107422, -2.0683653354644775, 0.7963499426841736, -0.3426300287246704, 0.48565053939819336, -0.4805377423763275, -0.6991205811500549, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9954314231872559, 0.8302547335624695, 0.7963499426841736, -0.3426300287246704, 0.529446005821228, -0.4805377423763275, -0.6991205811500549, 0.0], "max": [1.1183817386627197, 2.1136739253997803, 1.5707963705062866, 0.7474510073661804, 0.0, 0.0, 0.7036190629005432, 2.0, 1.715099573135376, 2.839918851852417, 1.3033760786056519, 0.524880051612854, 0.7154129147529602, 0.5636022090911865, 0.714989185333252, 1.0, -2.0155227184295654, 0.539129912853241, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.9887704849243164, 0.5476261377334595, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.9184544086456299, 0.5699578523635864, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.8380743265151978, 0.5954858064651489, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.8090461492538452, 0.6047048568725586, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.6877418756484985, 0.6432299017906189, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.6044920682907104, 0.6696692705154419, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.5376527309417725, 0.6908968091011047, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.4278883934020996, 0.7257568836212158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.394362211227417, 0.7364044785499573, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.344017505645752, 0.7523934841156006, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.6878215074539185, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.3896655738353729, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.2846033275127411, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.24729833006858826, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.1275249421596527, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, -0.03534255549311638, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.029437169432640076, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.17653243243694305, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.18639928102493286, 1.1543108224868774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.21460232138633728, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.3429507315158844, 1.1946066617965698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.38766011595726013, 1.206114649772644, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.4994122385978699, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 0.9694868326187134, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 1.303359031677246, 0.5118066072463989, 0.709141731262207, 0.49976176023483276, -0.5024296045303345, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.715099573135376, 2.037661075592041, 0.7963499426841736, 0.06749168038368225, 0.709141731262207, -0.09136521816253662, -0.6094053387641907, 0.0], "count": [1370]}, "action.applied": {"mean": [0.13716960904344808, -0.00043864545895017847, 0.009504426834572881, 0.06068096407572389, -1.5039013721647054, -0.4115813567630506, 1.452440424905206, -0.01998104773873101, 1.7639579386171633, 0.9811533762819865, -0.002694091022721607, 0.002694091022721607], "std": [0.12198492502652783, 0.008867074193380902, 0.17921597641508294, 0.11169748706229869, 0.15771812800638765, 0.2772558096437305, 0.6183985024953146, 0.18115705536193438, 0.6089804968122152, 0.6926907339678847, 0.010976729004543596, 0.010976729004543596], "min": [0.0, -0.06064680218696594, -0.800000011920929, -0.2712601125240326, -1.6292839050292969, -0.9756945967674255, 0.48643067479133606, -0.2778322398662567, 0.9430170655250549, -0.029824301600456238, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.032219983637332916, 0.800000011920929, 0.4583122432231903, -1.062960147857666, 0.0005880575627088547, 1.9539424180984497, 0.6296566724777222, 2.7069807052612305, 2.683288097381592, 0.020833000540733337, 0.009999999776482582], "count": [1370]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1370]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1370]}, "sim_step_idx": {"mean": [1400.0], "std": [790.9696580779821], "min": [31.0], "max": [2769.0], "count": [1370]}, "timestamp": {"mean": [27.380000001659795], "std": [15.819393160864571], "min": [0.0], "max": [54.7599983215332], "count": [1370]}, "frame_index": {"mean": [684.5], "std": [395.48482903899105], "min": [0.0], "max": [1369.0], "count": [1370]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1370]}, "index": {"mean": [684.5], "std": [395.48482903899105], "min": [0.0], "max": [1369.0], "count": [1370]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1370]}, "next.done": {"mean": [0.00072992700729927], "std": [0.027007299270072997], "min": [0.0], "max": [1.0], "count": [1370]}, "observation.images.head": {"mean": [[[0.5300818352843446]], [[0.4723334727377678]], [[0.4214361139266452]]], "std": [[[0.12740856155890987]], [[0.1658475137152929]], [[0.16511229919143053]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8941176470588236]], [[0.8705882352941177]], [[0.8392156862745098]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5226941935855255]], [[0.4378081302344597]], [[0.3672707835582213]]], "std": [[[0.16550173063023077]], [[0.18984350536291486]], [[0.17989150956958455]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9058823529411765]], [[0.8784313725490196]], [[0.8666666666666667]]], "count": [100]}}}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,610 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 2739,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_A_1",
+     "cat_name": "table_A",
+     "inst_id": 1,
+     "noun": "table A",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.354483227279738,
+      0.7907848405306761,
+      0.170000017400788
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_B_1",
+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      7.326116356810065,
+      -1.1221700840500863,
+      0.17000008102103983
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       1.0,
+       1.0
+      ],
+      "center": [
+       5.551115123125783e-17,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "peg_rack_1",
+     "cat_name": "peg_rack",
+     "inst_id": 1,
+     "noun": "peg rack",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.1771497724231486,
+      0.6662001189361031,
+      0.37000001823535994
+     ],
+     "bbox": {
+      "extent": [
+       0.07717150897278136,
+       0.07717150897278113,
+       0.03999999910593033
+      ],
+      "center": [
+       -1.6653345369377348e-16,
+       0.0,
+       0.019999999552965164
+      ]
+     }
+    },
+    {
+     "id": "hole_block_1",
+     "cat_name": "hole_block",
+     "inst_id": 1,
+     "noun": "hole block",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      7.128544169436826,
+      -1.1579451270835959,
+      0.370000079952301
+     ],
+     "bbox": {
+      "extent": [
+       0.08085991296763553,
+       0.08085991296763462,
+       0.04500000178813934
+      ],
+      "center": [
+       1.3877787807814457e-17,
+       2.220446049250313e-16,
+       0.02250000089406967
+      ]
+     }
+    },
+    {
+     "id": "peg_1",
+     "cat_name": "peg",
+     "inst_id": 1,
+     "noun": "peg",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.177148785469588,
+      0.6662020123638186,
+      0.4500003067217951
+     ],
+     "bbox": {
+      "extent": [
+       0.017852285097474968,
+       0.015083059232887323,
+       0.12000092078762281
+      ],
+      "center": [
+       4.053145883416848e-08,
+       6.110779459315811e-07,
+       1.8752943642397213e-11
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "left_of",
+     "object": "peg_rack_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "in_front_of",
+     "object": "hole_block_1"
+    },
+    {
+     "subject": "hole_block_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "hole_block_1",
+     "relation": "behind",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "peg_1",
+     "relation": "on_top_of",
+     "object": "peg_rack_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      4.262362203413282,
+      -1.8840664280173065,
+      -0.10499993332206037
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      4.1790059454855735,
+      -1.751258388556328,
+      -0.02999993552439601
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.6452,
+       -2.60879,
+       0.06
+      ],
+      "ori": [
+       0.8752468228340149,
+       0.0,
+       0.0,
+       0.483676552772522
+      ]
+     },
+     "facing_yaw_deg": 57.85160031147679,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 895.52637,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is in front of the hole block. The hole block is on top of the gray table B. The hole block is behind the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [hole block]\n\n\n[t[peg]rack]\n\n\n\n\n            [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N021",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0661": {
+    "frame_idx": 661,
+    "caption": "Computing a grasp pose for the small peg; the right gripper is below and in front of the peg.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0671": {
+    "frame_idx": 671,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0744": {
+    "frame_idx": 744,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_0764": {
+    "frame_idx": 764,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0792": {
+    "frame_idx": 792,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_0870": {
+    "frame_idx": 870,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0875": {
+    "frame_idx": 875,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1207": {
+    "frame_idx": 1207,
+    "caption": "Done — the small peg is grasped; the right gripper is below the peg.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1208": {
+    "frame_idx": 1208,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1250": {
+    "frame_idx": 1250,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1267": {
+    "frame_idx": 1267,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2240": {
+    "frame_idx": 2240,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2245": {
+    "frame_idx": 2245,
+    "caption": "Working on the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2392": {
+    "frame_idx": 2392,
+    "caption": "Working on the small hole block; the right gripper is below and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2402": {
+    "frame_idx": 2402,
+    "caption": "Working on the small hole block; the right gripper is below the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2446": {
+    "frame_idx": 2446,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below the hole block.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2449": {
+    "frame_idx": 2449,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,282 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1370,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                35
+            ],
+            "names": [
+                "object_pose.hole_block.0",
+                "object_pose.hole_block.1",
+                "object_pose.hole_block.2",
+                "object_pose.hole_block.3",
+                "object_pose.hole_block.4",
+                "object_pose.hole_block.5",
+                "object_pose.hole_block.6",
+                "object_pose.peg.0",
+                "object_pose.peg.1",
+                "object_pose.peg.2",
+                "object_pose.peg.3",
+                "object_pose.peg.4",
+                "object_pose.peg.5",
+                "object_pose.peg.6",
+                "object_pose.peg_rack.0",
+                "object_pose.peg_rack.1",
+                "object_pose.peg_rack.2",
+                "object_pose.peg_rack.3",
+                "object_pose.peg_rack.4",
+                "object_pose.peg_rack.5",
+                "object_pose.peg_rack.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                704
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:15:51"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/stats.json

@@ -0,0 +1,3637 @@
+{
+    "action": {
+        "mean": [
+            0.13716960904344808,
+            -0.00043864545895017847,
+            0.009504426834572881,
+            -0.8410802401112814,
+            1.1202335822321203,
+            0.9483489380265675,
+            0.03140301728584161,
+            0.32530746694898954,
+            -0.008695676737213439,
+            -0.3425086106479603,
+            0.5963503649635037
+        ],
+        "std": [
+            0.12198492502652783,
+            0.008867074193380902,
+            0.17921597641508294,
+            1.6350170448404586,
+            1.1164126513308754,
+            0.2226010527646936,
+            0.32411098322184334,
+            0.49875076524298956,
+            0.37682498741105275,
+            0.5291537566061609,
+            0.49062878754859734
+        ],
+        "min": [
+            0.0,
+            -0.06064680218696594,
+            -0.800000011920929,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7291308641433716,
+            -0.4899214506149292,
+            -0.7117365598678589,
+            -0.4805377423763275,
+            -0.7093927264213562,
+            0.0
+        ],
+        "max": [
+            0.30000001192092896,
+            0.032219983637332916,
+            0.800000011920929,
+            1.715099573135376,
+            2.839918851852417,
+            1.3033760786056519,
+            0.524880051612854,
+            0.7154129147529602,
+            0.5636022090911865,
+            0.714989185333252,
+            1.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "action_is_hold": {
+        "mean": [
+            0.010218978102189781,
+            0.010218978102189781,
+            0.010218978102189781,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.050364963503649635,
+            0.8700729927007299
+        ],
+        "std": [
+            0.10057112204174969,
+            0.10057112204174969,
+            0.10057112204174969,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.21869689973779774,
+            0.336223110558334
+        ],
+        "min": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            0.44577177336616236,
+            -3.0699159416839152,
+            1.0190980982171358,
+            0.060213920581735365,
+            5.156381078836574e-07,
+            -1.504407047355262,
+            -0.4104802117977062,
+            1.4507604498932831,
+            -0.020657427497147534,
+            1.7660527164483593,
+            0.978091294170095,
+            0.008466421494360951,
+            -0.006971581667486501,
+            -0.006971581667486501,
+            -0.008466421494360951
+        ],
+        "std": [
+            1.705083435185393,
+            0.8549982261350626,
+            0.5140834945578414,
+            0.11115449186091039,
+            2.4153663962203195e-05,
+            0.15705806070957443,
+            0.2770261335600751,
+            0.6191185303628596,
+            0.1802468274767488,
+            0.6091802992611867,
+            0.6914144981757995,
+            0.007372423412493605,
+            0.0074329908709903775,
+            0.0074329908709903775,
+            0.007372423412493605
+        ],
+        "min": [
+            -3.64520001411438,
+            -4.493809700012207,
+            0.25192904472351074,
+            -0.27160143852233887,
+            -0.00019742890435736626,
+            -1.6309146881103516,
+            -0.9752980470657349,
+            0.4888288378715515,
+            -0.2726508378982544,
+            0.9430461525917053,
+            -0.022132813930511475,
+            0.0,
+            -0.020833000540733337,
+            -0.020833000540733337,
+            -0.020833000540733337
+        ],
+        "max": [
+            2.866633176803589,
+            -2.2567710876464844,
+            1.5367518663406372,
+            0.45812883973121643,
+            0.0005245259962975979,
+            -1.064571738243103,
+            0.001063283532857895,
+            1.95444655418396,
+            0.6280258297920227,
+            2.7054567337036133,
+            2.6785173416137695,
+            0.020833000540733337,
+            0.0,
+            0.0,
+            -0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "observation.joint_vel": {
+        "mean": [
+            0.11883039132721265,
+            -0.028045906951529247,
+            0.009716325475946627,
+            0.0061171485100130814,
+            0.0002735398223251195,
+            0.009558115457298403,
+            -0.016931258977149637,
+            0.023847924838114886,
+            0.005051715178352927,
+            -0.0340080576266269,
+            0.04271090761735011,
+            0.008521809275255046,
+            0.014297235351672752
+        ],
+        "std": [
+            0.11332203519266525,
+            0.07566789268975606,
+            0.1787603140644915,
+            0.07700450925009074,
+            0.0011376792345096321,
+            0.05985098317628231,
+            0.07997531489442652,
+            0.08822505977179874,
+            0.0945795824715331,
+            0.09822541113370299,
+            0.11651490408636477,
+            0.05047867238611875,
+            0.051445399672368955
+        ],
+        "min": [
+            -0.0002997743431478739,
+            -0.17267724871635437,
+            -0.8000212907791138,
+            -0.32441437244415283,
+            -0.020926298573613167,
+            -0.13803280889987946,
+            -0.19315305352210999,
+            -0.207740917801857,
+            -0.32687631249427795,
+            -0.35562947392463684,
+            -0.262324720621109,
+            -0.10006751865148544,
+            -0.10009422153234482
+        ],
+        "max": [
+            0.30503061413764954,
+            0.12048095464706421,
+            0.8000270128250122,
+            0.18889521062374115,
+            0.013066616840660572,
+            0.17146828770637512,
+            0.22588524222373962,
+            0.20438605546951294,
+            0.3565838932991028,
+            0.2791416049003601,
+            0.41316184401512146,
+            0.10001461207866669,
+            0.10000003129243851
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "observation.eef_pose": {
+        "mean": [
+            -0.8405271485879555,
+            1.1192593742070216,
+            0.9511054407071023,
+            -0.0015927896617374715,
+            0.5911004643805706,
+            -0.09340513046613358,
+            -0.6279757182528503
+        ],
+        "std": [
+            1.63618229138699,
+            1.115035850696109,
+            0.22344885334386902,
+            0.3248577337086454,
+            0.08081653633198264,
+            0.3629566383388386,
+            0.06097699911353241
+        ],
+        "min": [
+            -3.5025484561920166,
+            -2.0683653354644775,
+            0.7291404008865356,
+            -0.49954360723495483,
+            0.41644445061683655,
+            -0.5603216290473938,
+            -0.7230894565582275
+        ],
+        "max": [
+            1.7162717580795288,
+            2.8410542011260986,
+            1.3054901361465454,
+            0.5248798131942749,
+            0.7180461883544922,
+            0.5113266110420227,
+            -0.4886890947818756
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            1.1252700090408325,
+            2.8136401176452637,
+            0.4300000071525574,
+            0.999241828918457,
+            0.0,
+            0.0,
+            -0.03893285617232323,
+            -0.6866409761712412,
+            1.4980611031942994,
+            0.5466074244384348,
+            0.827533788228557,
+            -0.02089886904964937,
+            0.05101882305177985,
+            0.47183893908952124,
+            -1.9887499809265137,
+            1.2835700511932373,
+            0.4300000071525574,
+            0.9996708631515503,
+            0.0,
+            0.0,
+            -0.025654733180999756,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.4195334962154842,
+            0.5756188203199045,
+            0.034956357638353995,
+            0.1250088423903177,
+            0.028541883860538606,
+            0.05391921299667403,
+            0.2648905992036015,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "min": [
+            1.1252700090408325,
+            2.8136401176452637,
+            0.4300000071525574,
+            0.999241828918457,
+            0.0,
+            0.0,
+            -0.03893285617232323,
+            -1.9923242330551147,
+            0.7941547632217407,
+            0.49500006437301636,
+            0.6824215650558472,
+            -0.1007048562169075,
+            -0.002832474885508418,
+            -0.0014522189740091562,
+            -1.9887499809265137,
+            1.2835700511932373,
+            0.4300000071525574,
+            0.9996708631515503,
+            0.0,
+            0.0,
+            -0.025654733180999756,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.1252700090408325,
+            2.8136401176452637,
+            0.4300000071525574,
+            0.999241828918457,
+            0.0,
+            0.0,
+            -0.03893285617232323,
+            1.6608407497406006,
+            2.836261510848999,
+            0.6578233242034912,
+            1.0,
+            0.022756239399313927,
+            0.17478862404823303,
+            0.7220567464828491,
+            -1.9887499809265137,
+            1.2835700511932373,
+            0.4300000071525574,
+            0.9996708631515503,
+            0.0,
+            0.0,
+            -0.025654733180999756,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "action.command": {
+        "mean": [
+            -2.2847065467708156,
+            -0.467469401049035,
+            1.4023742588282158,
+            0.7234137229400106,
+            0.0,
+            0.0,
+            0.6902231591762883,
+            0.9338970023059185,
+            -0.839573546728659,
+            1.0848466338422278,
+            0.9560167700579127,
+            0.022884630358071575,
+            0.3248030961155433,
+            -0.018614872514794965,
+            -0.3429489354964497,
+            0.16853932584269662,
+            -2.6844909576155382,
+            -0.75286838415987,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.6382057506845604,
+            -0.6849981657466533,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.58814936631955,
+            -0.6540324904163431,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.5144812592808505,
+            -0.58476957267856,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.4873360014850308,
+            -0.5586422348614806,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.3936579120825536,
+            -0.4901413267443639,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.331778314246894,
+            -0.4480934163798457,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.2739238466535294,
+            -0.3975062989300082,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.1931565865226412,
+            -0.34375607774864814,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.1584207753957427,
+            -0.3066117610990631,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.109411573113862,
+            -0.25732396641132993,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -2.0194565731546152,
+            -0.20826800047240643,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.93511697461146,
+            -0.14658626192104743,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.9159781577424233,
+            -0.1255491496613307,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.8439757302681112,
+            -0.061935899864812814,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.799268504995737,
+            -0.0394246144324356,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.7634235738967516,
+            0.01945960995573435,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.6682824441364834,
+            0.05037466813318477,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.5874483614974881,
+            0.12600049158060772,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.5379271430258425,
+            0.140011559658169,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.444903399929497,
+            0.17974726213431508,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.4112901299636555,
+            0.22869145648079628,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.3782655561192436,
+            0.24041830656691368,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.2870638988773275,
+            0.316750789355047,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.260456701465275,
+            0.3319611756697945,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.163443140583749,
+            0.40465431872361934,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.1019677179848186,
+            0.43344347262234423,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -1.0398909446245395,
+            0.4925401472527048,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.9433032782551665,
+            0.5353726600638088,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.9163387486653298,
+            0.5804260398475279,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.8871297061073113,
+            0.610649138244783,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.7930282600918171,
+            0.6682496591754582,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.7513422863083596,
+            0.7066526064128609,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.6696237805467214,
+            0.7563622371010158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.5932262879721126,
+            0.8084189866085231,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.5456467708445484,
+            0.8456537685779311,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.43531754890584057,
+            0.909758852875751,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.4204358551072778,
+            0.9374858035804322,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.3958887741432427,
+            0.9796617179183487,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.2932025195648952,
+            1.0327503481266662,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.2449160229345286,
+            1.0775357863177424,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            -0.15893441194332905,
+            1.0689021005393555,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.0089991309257769,
+            0.5816636495708679,
+            1.0048219784446384,
+            0.0011253890043460065,
+            0.5536239073143242,
+            -0.08595979421035103,
+            -0.602534244001282,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.18303217962069854,
+            1.2255864176066114,
+            0.7963499426841736,
+            -0.2998147652119021,
+            0.5535044141962558,
+            -0.44112129182503695,
+            -0.623745294562875,
+            0.0
+        ],
+        "std": [
+            1.4114702839134052,
+            1.67785706118676,
+            0.475484497047573,
+            0.011195731844142392,
+            0.0,
+            0.0,
+            0.01179938368188131,
+            1.3807491483827374,
+            1.6410545974591066,
+            1.1225055097425667,
+            0.22241854336385375,
+            0.3253584615644504,
+            0.4966226618744854,
+            0.37959064859104635,
+            0.5286183662402351,
+            0.3743445224484872,
+            0.8005356427879358,
+            1.5460983445774419,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.7771610780164533,
+            1.4750471417047093,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8014052865434933,
+            1.4647151216265077,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8094373200238473,
+            1.4123787098569105,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8116905572574955,
+            1.3921450336716048,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8447500417489153,
+            1.3562737538282168,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8703231757397494,
+            1.3375954471724072,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.8810751189020972,
+            1.302461657612193,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9157751130761885,
+            1.2798563457094754,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9143275838302934,
+            1.2481484574838846,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9159257433988975,
+            1.208300724822712,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.967187154419266,
+            1.2000643901686965,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.992573818863438,
+            1.1587642304298464,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9903931985844256,
+            1.138923553918248,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9997092265210753,
+            1.0873754291060498,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.0246559366290422,
+            1.0806286805287013,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.9985929608061204,
+            1.0144959858856049,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.0708487663353963,
+            1.025404513022432,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.0765583770425622,
+            0.9612733011951506,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.1165143019273305,
+            0.9700446433153779,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.1764356953843131,
+            0.9665707608265826,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.1590726471886947,
+            0.913884960615715,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.1830300392747761,
+            0.9161905489252918,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.1996166198315248,
+            0.8572067529734263,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.2124183789038667,
+            0.8504955796650454,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.2396544294244467,
+            0.8003982982004771,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.276400597296094,
+            0.7943410587521296,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.2796351440834215,
+            0.7435750766114433,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.340076176959681,
+            0.7376267919233582,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.3196158587424138,
+            0.6867519210111495,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.318412003958369,
+            0.6592718660849525,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.3593943911998807,
+            0.6298767516107532,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.3630124224496039,
+            0.597692303622274,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.3989528145117185,
+            0.5726279758974299,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.426254003261814,
+            0.5408922624151055,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.4378261426088412,
+            0.5139685219897016,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.4897435698009227,
+            0.4846026185360162,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.4752228184244776,
+            0.4522687756809186,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.4552863849028255,
+            0.40422743974814224,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.511025147354988,
+            0.38667413865078853,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.5148756056505226,
+            0.3489449675141552,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            1.5384879058962704,
+            0.391838388989836,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.669798622195406,
+            1.0273260888878764,
+            0.2494726735515794,
+            0.367578693614757,
+            0.037987367027116914,
+            0.4305429334475029,
+            0.033737405222812725,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.057520155486904,
+            0.30380740824612684,
+            0.0,
+            0.09527186490698039,
+            0.048604109771324025,
+            0.08895029725043566,
+            0.02732041741718955,
+            0.0
+        ],
+        "min": [
+            -3.6452555656433105,
+            -2.6087775230407715,
+            0.06000000238418579,
+            0.7105773687362671,
+            0.0,
+            0.0,
+            0.6643168926239014,
+            -1.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7291308641433716,
+            -0.4899214506149292,
+            -0.7117365598678589,
+            -0.4805377423763275,
+            -0.7093927264213562,
+            0.0,
+            -3.642469644546509,
+            -2.603041172027588,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.5682127475738525,
+            -2.450145959854126,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.547168731689453,
+            -2.406816244125366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.483112335205078,
+            -2.274923801422119,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.4586634635925293,
+            -2.224583387374878,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.4045467376708984,
+            -2.113156318664551,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.37326979637146,
+            -2.0487565994262695,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.328281879425049,
+            -1.9561258554458618,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.289039134979248,
+            -1.8753244876861572,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.2525711059570312,
+            -1.8002362251281738,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.205474376678467,
+            -1.703263759613037,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.1768624782562256,
+            -1.644351601600647,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.1229023933410645,
+            -1.5332471132278442,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.101154088973999,
+            -1.4884672164916992,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.040299892425537,
+            -1.3631677627563477,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -3.0254456996917725,
+            -1.3325828313827515,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.958411931991577,
+            -1.1945594549179077,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.949737310409546,
+            -1.1766983270645142,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.8757357597351074,
+            -1.0243284702301025,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.8740286827087402,
+            -1.0208138227462769,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.8527112007141113,
+            -0.976921021938324,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.7983200550079346,
+            -0.86492919921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.7939646244049072,
+            -0.8559613823890686,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.722611665725708,
+            -0.7090446352958679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.7113239765167236,
+            -0.6858031749725342,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.6469030380249023,
+            -0.5531600117683411,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.6294007301330566,
+            -0.5171223282814026,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.571194648742676,
+            -0.3972754180431366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.5469350814819336,
+            -0.34732475876808167,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.495486259460449,
+            -0.24139083921909332,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.464836597442627,
+            -0.17828312516212463,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.4197776317596436,
+            -0.08550629019737244,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.3824212551116943,
+            -0.008589111268520355,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.3437116146087646,
+            0.07111430168151855,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.2999846935272217,
+            0.1611482948064804,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.2662532329559326,
+            0.230601966381073,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.2180521488189697,
+            0.32984840869903564,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.185793876647949,
+            0.396268367767334,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.1373894214630127,
+            0.49593400955200195,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.1014041900634766,
+            0.5700281858444214,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.057725429534912,
+            0.659963071346283,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            -2.0,
+            0.6000000238418579,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.499431610107422,
+            -2.0683653354644775,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.48565053939819336,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9954314231872559,
+            0.8302547335624695,
+            0.7963499426841736,
+            -0.3426300287246704,
+            0.529446005821228,
+            -0.4805377423763275,
+            -0.6991205811500549,
+            0.0
+        ],
+        "max": [
+            1.1183817386627197,
+            2.1136739253997803,
+            1.5707963705062866,
+            0.7474510073661804,
+            0.0,
+            0.0,
+            0.7036190629005432,
+            2.0,
+            1.715099573135376,
+            2.839918851852417,
+            1.3033760786056519,
+            0.524880051612854,
+            0.7154129147529602,
+            0.5636022090911865,
+            0.714989185333252,
+            1.0,
+            -2.0155227184295654,
+            0.539129912853241,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.9887704849243164,
+            0.5476261377334595,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.9184544086456299,
+            0.5699578523635864,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.8380743265151978,
+            0.5954858064651489,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.8090461492538452,
+            0.6047048568725586,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.6877418756484985,
+            0.6432299017906189,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.6044920682907104,
+            0.6696692705154419,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.5376527309417725,
+            0.6908968091011047,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.4278883934020996,
+            0.7257568836212158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.394362211227417,
+            0.7364044785499573,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.344017505645752,
+            0.7523934841156006,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.2112258672714233,
+            0.7945667505264282,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.1056718826293945,
+            0.8217359781265259,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.088355302810669,
+            0.8261932134628296,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -1.0085679292678833,
+            0.8467302322387695,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.9430139660835266,
+            0.8636035919189453,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.9289485812187195,
+            0.8672239780426025,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.7734268307685852,
+            0.9072547554969788,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.6878215074539185,
+            0.9292892813682556,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.6049110889434814,
+            0.9506301283836365,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.4618139863014221,
+            0.9874628782272339,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.44271016120910645,
+            0.9923801422119141,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.3896655738353729,
+            1.0060336589813232,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.2846033275127411,
+            1.033076286315918,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.24729833006858826,
+            1.0426784753799438,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.1275249421596527,
+            1.0735077857971191,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            -0.03534255549311638,
+            1.0972352027893066,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.029437169432640076,
+            1.1139092445373535,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.17653243243694305,
+            1.151771068572998,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.18639928102493286,
+            1.1543108224868774,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.21460232138633728,
+            1.1615701913833618,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.3429507315158844,
+            1.1946066617965698,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.38766011595726013,
+            1.206114649772644,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.4994122385978699,
+            1.2348792552947998,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.5986239910125732,
+            1.260416030883789,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.6558737754821777,
+            1.2751519680023193,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.809587836265564,
+            1.314717411994934,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.8123352527618408,
+            1.3154245615005493,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.8202224373817444,
+            1.3174546957015991,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            0.9694868326187134,
+            1.3558748960494995,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            1.0209909677505493,
+            1.3691319227218628,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            1.126704216003418,
+            1.396342158317566,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            1.303359031677246,
+            0.5118066072463989,
+            0.709141731262207,
+            0.49976176023483276,
+            -0.5024296045303345,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.715099573135376,
+            2.037661075592041,
+            0.7963499426841736,
+            0.06749168038368225,
+            0.709141731262207,
+            -0.09136521816253662,
+            -0.6094053387641907,
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "action.applied": {
+        "mean": [
+            0.13716960904344808,
+            -0.00043864545895017847,
+            0.009504426834572881,
+            0.06068096407572389,
+            -1.5039013721647054,
+            -0.4115813567630506,
+            1.452440424905206,
+            -0.01998104773873101,
+            1.7639579386171633,
+            0.9811533762819865,
+            -0.002694091022721607,
+            0.002694091022721607
+        ],
+        "std": [
+            0.12198492502652783,
+            0.008867074193380902,
+            0.17921597641508294,
+            0.11169748706229869,
+            0.15771812800638765,
+            0.2772558096437305,
+            0.6183985024953146,
+            0.18115705536193438,
+            0.6089804968122152,
+            0.6926907339678847,
+            0.010976729004543596,
+            0.010976729004543596
+        ],
+        "min": [
+            0.0,
+            -0.06064680218696594,
+            -0.800000011920929,
+            -0.2712601125240326,
+            -1.6292839050292969,
+            -0.9756945967674255,
+            0.48643067479133606,
+            -0.2778322398662567,
+            0.9430170655250549,
+            -0.029824301600456238,
+            -0.009999999776482582,
+            -0.020833000540733337
+        ],
+        "max": [
+            0.30000001192092896,
+            0.032219983637332916,
+            0.800000011920929,
+            0.4583122432231903,
+            -1.062960147857666,
+            0.0005880575627088547,
+            1.9539424180984497,
+            0.6296566724777222,
+            2.7069807052612305,
+            2.683288097381592,
+            0.020833000540733337,
+            0.009999999776482582
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "extra.reward": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "next.truncated": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "sim_step_idx": {
+        "mean": [
+            1400.0
+        ],
+        "std": [
+            790.9696580779821
+        ],
+        "min": [
+            31.0
+        ],
+        "max": [
+            2769.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            27.380000001659795
+        ],
+        "std": [
+            15.819393160864571
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            54.7599983215332
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            684.5
+        ],
+        "std": [
+            395.48482903899105
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1369.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "index": {
+        "mean": [
+            684.5
+        ],
+        "std": [
+            395.48482903899105
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1369.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "next.done": {
+        "mean": [
+            0.00072992700729927
+        ],
+        "std": [
+            0.027007299270072997
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "count": [
+            1370
+        ]
+    },
+    "observation.images.head": {
+        "mean": [
+            [
+                [
+                    0.5300818352843446
+                ]
+            ],
+            [
+                [
+                    0.4723334727377678
+                ]
+            ],
+            [
+                [
+                    0.4214361139266452
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.12740856155890987
+                ]
+            ],
+            [
+                [
+                    0.1658475137152929
+                ]
+            ],
+            [
+                [
+                    0.16511229919143053
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8941176470588236
+                ]
+            ],
+            [
+                [
+                    0.8705882352941177
+                ]
+            ],
+            [
+                [
+                    0.8392156862745098
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    },
+    "observation.images.wrist": {
+        "mean": [
+            [
+                [
+                    0.5226941935855255
+                ]
+            ],
+            [
+                [
+                    0.4378081302344597
+                ]
+            ],
+            [
+                [
+                    0.3672707835582213
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.16550173063023077
+                ]
+            ],
+            [
+                [
+                    0.18984350536291486
+                ]
+            ],
+            [
+                [
+                    0.17989150956958455
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9058823529411765
+                ]
+            ],
+            [
+                [
+                    0.8784313725490196
+                ]
+            ],
+            [
+                [
+                    0.8666666666666667
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole."}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f5c93559532df44de5a5a0027df0e62a95c403ae613e51cace8157af311635
+size 13806662

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac44fbfe24209d2fc4442856d661d3a08edfa3e535e1df275f4106050119ce00
+size 23899255

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/run_meta.json

@@ -0,0 +1,899 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-07 21:04:53",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n021_saw_off_1038/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobilePegInsertionEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1038,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.6452,
+                                -2.60879,
+                                0.06
+                            ],
+                            [
+                                -3.6452,
+                                -2.60879,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                57.8516
+                            ],
+                            [
+                                0,
+                                0,
+                                57.8516
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        895.52637,
+                        895.52637
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_B": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                3.0,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_B_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.62,
+                                    0.72,
+                                    0.78
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "peg_rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/peg_rack_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -1.98875,
+                                1.28357,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -2.94016
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "peg_rack_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hole_block": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/hole_block_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.12527,
+                                2.81364,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -4.46242
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hole_block_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "peg": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/peg_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -1.98875,
+                                1.28357,
+                                0.511
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                87.05984
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "peg_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.03783,
+                                "physics_material": {
+                                    "static_friction": 1.14247,
+                                    "dynamic_friction": 1.14247,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                },
+                "B": {
+                    "center": [
+                        1.2,
+                        2.1
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_B"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.7,
+                    0.8,
+                    0.65,
+                    0.9
+                ],
+                "radii_B": [
+                    0.7,
+                    0.8,
+                    0.65,
+                    0.9
+                ],
+                "bearings_deg": [
+                    0.0,
+                    -25.0,
+                    25.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0
+                ],
+                "include_current": true
+            },
+            "assembly": {
+                "part": {
+                    "name": "peg",
+                    "id": 0
+                },
+                "rack": {
+                    "name": "peg_rack"
+                },
+                "fixture": {
+                    "name": "hole_block",
+                    "id": 0
+                },
+                "support_z": 0.47,
+                "part_half_height": 0.06,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "depth_required": 0.03,
+                "lateral_max": 0.004,
+                "axis_max_deg": 10.0,
+                "pre_height": 0.06,
+                "align_height": 0.015,
+                "insert_depth": 0.036,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 20.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "peg",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "hole_block",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "peg",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "hole_block",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.15,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.03,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.2,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": []
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.62,
+                        0.0,
+                        0.5
+                    ],
+                    "planner_mode": 1
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n021_saw_off_1038/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "peg",
+                "hole_block"
+            ]
+        }
+    },
+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b778faaaa5417749dffd3888298a4b44a9265052b249a373e2fbe22bfb5ba026
+size 431757

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,353 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    3.0,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "peg_rack": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/peg_rack_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.98875,
+                                    1.28357,
+                                    0.43
+                                ],
+                                "ori": [
+                                    0.9996708631515503,
+                                    0.0,
+                                    0.0,
+                                    -0.025654921308159828
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hole_block": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/hole_block_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    1.12527,
+                                    2.81364,
+                                    0.43
+                                ],
+                                "ori": [
+                                    0.999241828918457,
+                                    0.0,
+                                    0.0,
+                                    -0.03893211856484413
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "peg": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/peg_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.9887498617172241,
+                                    1.2835683822631836,
+                                    0.5100001692771912
+                                ],
+                                "ori": [
+                                    0.7250189781188965,
+                                    9.695097105577588e-06,
+                                    -7.206614554888802e-06,
+                                    0.6887287497520447
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.03783,
+                                    "physics_material": {
+                                        "static_friction": 1.14247,
+                                        "dynamic_friction": 1.14247,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.0014854120090603828,
+                                    -3.0298015190055594e-05,
+                                    -0.00017029464652296156
+                                ],
+                                "angular_velocity": [
+                                    0.00033543474273756146,
+                                    -0.023521488532423973,
+                                    -0.0011666559148579836
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 895.52637,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.64520001411438,
+                        -2.6087899208068848,
+                        0.05999999865889549,
+                        0.8752468228340149,
+                        0.0,
+                        0.0,
+                        0.483676552772522
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3337d638b74dc63cdcce2d60fd077eddadbe3c03a2aed466b16afd1dccf9c3
+size 401730

N021/sawyer_umi/dr_off/seed_1038/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:16:05"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}