add N052/stretch3/dr_off/seed_5005

N052/stretch3/dr_off/seed_5005/rec/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', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "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', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1896 rows vs ceil(3792/2) = 1896"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..3851, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "21.55 MB, 1896 frames at 25 fps, mean luma 106..167, std 11, new picture 1895x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1896 vs 1896"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "31.86 MB, 1896 frames at 25 fps, mean luma 102..153, std 28, new picture 1895x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1896 vs 1896"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N052/stretch3/dr_off/seed_5005/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n052_str_off_5005/out/rec  task=N052  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n052_str_off_5005/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1896  videos 2  robot_type HelloRobotCfg
+[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: 1896 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', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[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', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
+rows 1896 at dataset fps 25 = 75.84 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1896 rows vs ceil(3792/2) = 1896
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3851, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 21.55 MB, 1896 frames at 25 fps, mean luma 106..167, std 11, new picture 1895x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1896 vs 1896
+[PASS] video observation.images.wrist decodes, 640x480, not black: 31.86 MB, 1896 frames at 25 fps, mean luma 102..153, std 28, new picture 1895x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1896 vs 1896
+parquet size 4.07 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 57.75 MB; whole cell dir 59.2 MB
+RESULT: ALL PASS

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/completed/0.json

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

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695d3de41b28aecde94ce6bbd8e1f4e28a94b684ba8058efbdcb464431dcb68f
+size 4071960

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1896, "magicsim/control_steps": 3792, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.07407906753077852, 2.7775737940321995e-05, 0.16935104666938927, -0.006921648114668166, 0.39156891843343333, 0.6564409934958828, -0.40571981147923575, -0.002982988508934428, 0.0257391486232814, 0.08678608509886421, 0.12341772151898735], "std": [0.14090155638168247, 0.0003526202104473134, 0.2683078292453338, 0.8529644118713939, 1.1322201889476113, 0.03407678290004331, 0.5952052021613958, 0.03186670827530807, 0.3074241873973534, 0.6143237784197867, 0.3289160797742337], "min": [-0.30000001192092896, 0.0, -0.25, -2.847317934036255, -2.7536067962646484, 0.4610215425491333, -0.9999996423721313, -0.08770322799682617, -0.7069053053855896, -0.9952576756477356, 0.0], "max": [0.30000001192092896, 0.005450009368360043, 0.800000011920929, 1.3297789096832275, 1.982208013534546, 0.6697710156440735, 0.9999992847442627, 0.07519887387752533, 0.7067798972129822, 0.9999998807907104, 1.0], "count": [1896]}, "action_is_hold": {"mean": [0.12183544303797468, 0.12183544303797468, 0.12183544303797468, 0.13660337552742616, 0.13660337552742616, 0.13660337552742616, 0.13660337552742616, 0.13660337552742616, 0.13660337552742616, 0.13660337552742616, 0.989451476793249], "std": [0.32709565551640685, 0.32709565551640685, 0.32709565551640685, 0.34342814870354016, 0.34342814870354016, 0.34342814870354016, 0.34342814870354016, 0.34342814870354016, 0.34342814870354016, 0.34342814870354016, 0.10216286930635685], "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": [1896]}, "observation.state": {"mean": [-0.057324169170237166, 0.4692324553419863, 0.523076682055702, 0.5364731903569104, -3.8172404838313e-07, 8.126044043498871e-08, 0.03902694222984938, 0.039025915882899914, 0.03902490594216037, 0.039030133420405004, 1.2889687230548712, -0.27348569536273987, -0.27946479329249746, 0.030003368781333962, 0.0301384502946557], "std": [0.920823175558337, 1.2107454344858428, 1.6288070302235838, 0.0749411019775682, 3.8759287902974e-06, 1.0139193178561979e-05, 0.02722402384288208, 0.02722416468655862, 0.027224398656906394, 0.027225966965451494, 0.5836370033401601, 0.5417975866279935, 0.5781979236086652, 0.07554232689591578, 0.0755434023319483], "min": [-3.044301748275757, -2.4656999111175537, -3.140878200531006, 0.4999839663505554, -6.514876440633088e-05, -8.667405927553773e-05, 0.02235758677124977, 0.022262558341026306, 0.0221323911100626, 0.023048080503940582, -0.09879682958126068, -1.4428155422210693, -1.6193832159042358, -1.771416680007576e-09, -7.173748262090385e-10], "max": [1.0644800662994385, 1.7086913585662842, 3.1377601623535156, 0.7164846062660217, 2.101704740198329e-05, 0.00019204824639018625, 0.10127029567956924, 0.10127060860395432, 0.10127075761556625, 0.1012590155005455, 1.5733544826507568, 0.0005144935566931963, 2.054485958069563e-05, 0.25, 0.25000008940696716], "count": [1896]}, "observation.joint_vel": {"mean": [0.032689240345707436, 0.061849621261156694, 0.1689390527500587, 0.0003466485267348597, -3.9390868736815585e-05, -2.7479394460094407e-06, 0.0007502756057101585, 0.0007517283113993016, 0.000750729324076663, 0.0007651843569049508, -0.018430647114895192, -0.01650578318376705, -0.01729426748951018, 0.03425841440158835, 0.05413941979674004], "std": [0.10554917652613445, 0.09641237262954763, 0.268325338402165, 0.02730153523908299, 0.00012601127602094022, 0.00010201238673336067, 0.008941307077794163, 0.008955727346741382, 0.008969015320706106, 0.00876006419105131, 0.0730970767939173, 0.0941510482784056, 0.0702716941579555, 0.11692040131719393, 0.16282835628844], "min": [-0.2999998927116394, -0.05232919007539749, -0.24976041913032532, -0.1120820939540863, -0.0004420653567649424, -0.0019292912911623716, -0.038253530859947205, -0.03838260471820831, -0.03850138932466507, -0.03603975474834442, -0.3477925658226013, -0.7392365336418152, -0.35641878843307495, -1.0000004768371582, -1.0000004768371582], "max": [0.2965368926525116, 0.2999984323978424, 0.800119936466217, 0.14753057062625885, 0.0006511200917884707, 0.0008706678636372089, 0.08521437644958496, 0.08522845804691315, 0.0852380245923996, 0.08500589430332184, 0.28906935453414917, 0.04683975130319595, 0.1587987244129181, 1.0000003576278687, 1.000000238418579], "count": [1896]}, "observation.eef_pose": {"mean": [-0.0087296474874334, 0.39191841197942817, 0.6567519131874988, -0.6237219892686477, 0.014378728213971353, -0.13830265757337176, 0.10233078841512508], "std": [0.8524213696102493, 1.1326660681993905, 0.033557148065143524, 0.3616867766891434, 0.028541425883357473, 0.27404505682246555, 0.6119086526410816], "min": [-2.847317934036255, -2.7536067962646484, 0.46055692434310913, -0.9999997615814209, -0.00017432852473575622, -0.7067818641662598, -0.9952647686004639], "max": [1.3302675485610962, 1.9828054904937744, 0.6698739528656006, 0.09480633586645126, 0.08804063498973846, 0.00019653805065900087, 0.9999998807907104], "count": [1896]}, "observation.environment_state": {"mean": [-0.0060082573975625015, -0.0035804048777270062, 0.019390875114548463, 0.017629435107680252, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.13302882136737748, 1.1041010508808908, 0.5056337512212212, 0.9999946697540424, -0.000502167364646982, 0.0004809417293092591, 0.0005659264517269994, -0.12001440929492566, 1.0999782992691933, 0.49384202460762316, 0.99999907097233, -0.0006522767023868143, 0.0011750847684638968, -0.00020757839813518995, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "std": [0.010292737001081551, 0.006870590618262897, 0.018810156050179702, 0.011065964202996454, 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, 0.044357345552801304, 0.01358060473028165, 0.032913372353166374, 2.7473014769373407e-05, 0.0001490125198835897, 0.0012669904562080288, 0.002863610537075328, 7.860496380347896e-06, 1.2645217766831525e-05, 0.010293483890306317, 4.919953398394824e-08, 4.125514273637318e-05, 1.8229631616405917e-05, 0.00012604408045989085, 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, 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, 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": [-0.057988882064819336, -0.038800615817308426, -0.2452646940946579, -0.13591572642326355, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.11999928951263428, 1.099602460861206, 0.43853500485420227, 0.9997555017471313, -0.0011818519560620189, -0.006589699536561966, -0.00963668618351221, -0.12001924216747284, 1.0999670028686523, 0.44185811281204224, 0.999998927116394, -0.0007544774562120438, 0.0010110847651958466, -0.0003003161691594869, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "max": [-0.003916430287063122, -0.0014652733225375414, 0.5377385020256042, 0.3424130380153656, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.3041202425956726, 1.155299186706543, 0.6176487803459167, 0.9999999403953552, 0.0005302801728248596, 0.0009047901257872581, 0.021551312878727913, -0.12000148743391037, 1.099999189376831, 0.49593400955200195, 0.9999994039535522, -0.0002998989075422287, 0.0012094302801415324, 7.636842980218717e-08, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "count": [1896]}, "action.command": {"mean": [-1.0835311734654607, -0.7046824051624667, 0.23490214848578195, 0.999641120115066, 1.2897830349793804e-08, -2.1574921623458913e-08, 0.02063665717010969, 1.2822235797189983, 0.020533742996418556, 0.40767575143202095, 0.6572819435895035, -0.45107947182679103, -0.004956476225385795, 0.04405506238598615, -0.031022714761834793, 0.5, -1.2426986792616843, -1.0649031004407903, 0.26589729381679533, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06715512834961698, 0.11243884726439304, 0.6697510302016418, -0.6712873167081963, -1.3513322102703327e-06, 4.106323943591554e-06, -0.03684879921786865, 0.0, -1.1769298509783597, -1.0397174471228785, 0.23815858568161702, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06715512834961698, 0.11243884726439304, 0.6697510302016418, -0.6712873167081963, -1.3513322102703327e-06, 4.106323943591554e-06, -0.03684879921786865, 0.0, -1.1400802961896257, -1.0396675346568793, 0.26276190640028513, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06715512834961698, 0.11243884726439304, 0.6697510302016418, -0.6712873167081963, -1.3513322102703327e-06, 4.106323943591554e-06, -0.03684879921786865, 0.0, -1.1411016230704263, -1.1121987941442057, 0.2698386725387536, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -1.0710472066421062, -1.0861285394057631, 0.2698389301804127, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -1.0138989144470543, -1.0687116568442434, 0.2698394677863689, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.9675650163553655, -1.0600324692204595, 0.2698392297315877, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.9148157448507845, -1.0460483994102105, 0.21731185028329492, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.8829499455168843, -1.0351193476235494, 0.5539066137280315, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.8524751467630267, -1.016698768362403, 0.5539077497087419, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.8053393084555864, -0.9859994798898697, 0.5539071618113667, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.7582310792058706, -0.953399772522971, 0.5539142552297562, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.7097989916801453, -0.927551019762177, 0.5539061264134943, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.6970891803503036, -0.9198679477558471, 0.5539071939419955, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.6525679505430162, -0.8890648050000891, 0.553906615357846, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.5814296561293304, -0.8472141688980628, 0.930182165466249, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.5539320497773588, -0.8097819653048646, 0.930180452298373, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.5150386453606188, -0.760930979042314, 0.0966971991583705, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.4749471084214747, -0.7626787993940525, 0.9667405569925904, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.4638915956020355, -0.7461201444384642, 0.9667389346286654, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.42223143856972456, -0.6911625568754971, 0.9667394123971462, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.3757582614198327, -0.6241861297748983, 0.9667380931787193, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.3654829515144229, -0.609177561243996, 0.9667394971475005, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.34467306081205606, -0.5738092579413205, 0.9667392852716148, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.30768533889204264, -0.524876985931769, 0.966739249881357, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.28596289455890656, -0.4979389510117471, 0.9667394123971462, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.25001446809619665, -0.4406324743758887, 1.0033540595322847, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.2084827246144414, -0.38287477870471776, 1.1403766074217856, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.20359998475760221, -0.37790561746805906, 1.14038568129763, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.19826987478882074, -0.3398051797412336, 1.140386676415801, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.16340210381895304, -0.28229370759800076, 1.140385553240776, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.13660015165805817, -0.2428612057119608, 1.14038669411093, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.12444551568478346, -0.20542955119162798, 1.1403860291466117, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.10659130103886127, -0.1656793295405805, 1.1403859700076282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.0850381338968873, -0.11857037618756294, 1.1403860193677247, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.07104312721639872, -0.08462989097461104, 1.1403855858370662, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.04689861461520195, -0.05434235883876681, 1.1403859267011285, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.00929137784987688, 0.013605657499283552, 1.4709953591227531, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.02466515265405178, 0.04294656403362751, 1.2909170161001384, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.023510600440204144, 0.04524347558617592, 1.2909059436060488, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0022836094722151756, 0.11289576813578606, 1.2909058164805174, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.01900714822113514, 0.15472021978348494, 1.2909064115956426, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.02675451710820198, 0.19562747050076723, 1.2909059417434037, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.03757278108969331, 0.26873114705085754, 1.2909080758690834, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.050722755026072264, 0.28177362587302923, 1.2909049838781357, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.05841902829706669, 0.2925364151597023, 1.2909062844701111, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0745568023994565, 0.36740858759731054, 1.2909063594415784, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0998222166672349, 0.42055784771218896, 2.013910544104874, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.06511119194328785, 0.42798698227852583, 1.7060450352728367, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.06556257698684931, 0.43840571818873286, 1.7060435670427978, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.07908250950276852, 0.47186166886240244, 1.706044637132436, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.09272228088229895, 0.48891193186864257, 1.7060439828783274, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.07029915321618319, 0.5325555372983217, 1.7060441109351814, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0698669794946909, 0.5750005687586963, 1.7060434273444116, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.05280742887407541, 0.5995589010417461, 1.7060440103523433, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.03728278772905469, 0.618697436992079, 1.7060443316586316, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.045515249483287334, 0.6593389245681465, 1.7060451139695942, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0478731500916183, 0.6996229789219797, 1.6290134936571121, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.028696534922346473, 0.7329506948590279, -1.4462846657261252, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.024335476337000728, 0.7404952831566334, -1.4462859407067299, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.039368069265037775, 0.7578966235741973, -1.44628616143018, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.0037971262354403734, 0.7645343539770693, -1.4462852687574923, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, 0.008520009694620967, 0.7787446663714945, -1.4462853535078466, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.011617887183092535, 0.7945984962861985, -1.446285166312009, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.023970900452695787, 0.7998512599151582, -1.446285402867943, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.058285099803470075, 0.8009162948001176, -1.4462864925153553, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.05553624429740012, 0.8219394607003778, -1.4462854047305882, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.05345287447562441, 0.8466710117645562, -0.4719123048707843, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.050305502212722786, 0.8446304878452793, -0.9689108370803297, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.05834551993757486, 0.8322002101922408, 0.2806655107997358, 0.0, 0.0, 0.0, 0.0, 2.0, -0.07764712953940034, 0.07747350295539945, 0.6697508741377128, -0.6624435169979582, -1.350417741482109e-06, 3.6690437879016713e-06, -0.03790638119678786, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9061626225408882, -1.0447638848815302, 0.669751353336103, -0.8432459331973634, -3.254550304316379e-06, 4.167425941367849e-06, -0.3123651273445123, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9061626225408882, -1.0447638848815302, 0.669751353336103, -0.8432459331973634, -3.254550304316379e-06, 4.167425941367849e-06, -0.3123651273445123, 0.0], "std": [1.4774614316793167, 1.4670736787777625, 0.31589356234324945, 0.0003145021176139555, 9.529098788780892e-09, 1.5934901528943123e-08, 0.01707672774514459, 1.1872908506090822, 0.9116163734252238, 1.2058819909729277, 0.030056881838121326, 0.6161205170594136, 0.032406164960584065, 0.31340736098499467, 0.5609995678427544, 0.5, 1.4901194556347925, 1.1945562005668047, 0.3292340870208902, 0.0, 0.0, 0.0, 0.0, 0.0, 1.05735870614507, 1.3010756571888018, 1.0370012073467302e-06, 0.33738436766199814, 4.170904432607039e-06, 3.1405161695706867e-06, 0.6589287663626638, 0.0, 1.478170423498924, 1.1653447485679733, 0.38100701923534463, 0.0, 0.0, 0.0, 0.0, 0.0, 1.05735870614507, 1.3010756571888018, 1.0370012073467302e-06, 0.33738436766199814, 4.170904432607039e-06, 3.1405161695706867e-06, 0.6589287663626638, 0.0, 1.5066499548125918, 1.1629222332051954, 0.33116591722305044, 0.0, 0.0, 0.0, 0.0, 0.0, 1.05735870614507, 1.3010756571888018, 1.0370012073467302e-06, 0.33738436766199814, 4.170904432607039e-06, 3.1405161695706867e-06, 0.6589287663626638, 0.0, 1.5390490866309428, 1.0884136880226627, 0.3327441452339745, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5292765161741977, 1.0570320934987887, 0.3327446459168861, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5312227139501993, 1.0356796108674062, 0.33274516227494366, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5468181583203704, 1.0243710005924387, 0.33274485153803773, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5540036790166083, 1.0069701250291228, 0.3783398267422718, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.548293968659588, 0.9909208904453868, 0.08617244384475711, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5534607358962003, 0.990621542926677, 0.08617399291893067, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5433050056315745, 0.9781877589393823, 0.08617383063496788, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5173865457394238, 0.9553596134996997, 0.08618159075891077, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5537602235692787, 0.9734607923012288, 0.08617157341260431, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.555910161481485, 0.9733327207500008, 0.08617297495590119, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5314666857556067, 0.9517923391099846, 0.08617316674603737, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5529727922854863, 0.9573238967166511, 0.24043135947751226, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5448716949887948, 0.9653508781907533, 0.24043209713188557, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.527523657607832, 0.9686439055957322, 0.4830310097078867, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5409137957289991, 0.9507434941832882, 0.2721631259060028, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5371177968496692, 0.9548680664473457, 0.2721651323258823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.5145999235898648, 0.9576677192612884, 0.27216471923943314, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4957396947563222, 0.9705016659896696, 0.2721644536838648, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4917904703118634, 0.9736818267440502, 0.2721648962764806, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4892818553401919, 0.9886392443459616, 0.2721644536838648, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.469442375581199, 0.991362015133481, 0.2721650438073543, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.455804444605035, 0.9898791970777862, 0.27216471923943314, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4472854808624913, 1.009224079583638, 0.30394676418958727, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4210623992228855, 1.0117041030720497, 0.4228809907618049, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.415603166782782, 1.0085964094826658, 0.4228899016265447, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.4140439424877405, 1.036933992118669, 0.42289040323151994, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.3780251649270197, 1.036130538982035, 0.42289004915743295, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.34969551945201, 1.0308762269250982, 0.42289010816978434, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.3394805407885986, 1.0474764598149047, 0.4228904622438698, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.3224241424381846, 1.057068061525708, 0.42289025570064315, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.3017160599088442, 1.0677956509619002, 0.4228910228611976, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.2887210684790422, 1.0780157932058572, 0.4228906982932641, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.2624953312837117, 1.0681988528389585, 0.4228905802685741, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.224443637299598, 1.0730791151194279, 0.7098548295691492, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.209291095364512, 1.0971633826746852, 0.5535478460922961, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.2074585848795942, 1.096987879947661, 0.5535416497956069, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.1607124244258742, 1.1028046092002477, 0.553541384240028, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.1311290025761687, 1.1053614372613438, 0.55354179732649, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.1097713711172958, 1.1193791127056933, 0.5535424759685037, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.0742678008727338, 1.1484785152658763, 0.5535438627587059, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.0580590559086542, 1.138661161812539, 0.5535405580671477, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.0474603494435026, 1.1347805687304222, 0.5535415317709115, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 1.0066466414595285, 1.1578179867140301, 0.5535422694252724, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.9655204630856323, 1.1556979975691477, 1.1811102790346102, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.9264099695291116, 1.1552736102586663, 0.9138834181286117, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.9124438118657434, 1.1533297729766363, 0.9138812641778519, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.866020271926047, 1.137863904972574, 0.9138825034371886, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.8414796913792851, 1.1248240936634177, 0.9138818838075214, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.7861519550803969, 1.1352617554271454, 0.913881736276649, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.7295518535167611, 1.129078293929429, 0.9138827984989246, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.6989989767916301, 1.1383460948792603, 0.9138810281284475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.675480165568008, 1.1472726864250662, 0.9138820313383829, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.6201557634668554, 1.1347446597158009, 0.9138825034371886, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.5660756957644847, 1.1267606429203276, 0.847017941355206, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.532736093618195, 1.1429138867698063, 1.8223404736956563, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.5040058723156486, 1.1303737625289425, 1.822341476905641, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.468392966940788, 1.1082405317623318, 1.8223417719674035, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.4043490328746813, 1.0886202681281816, 1.8223411523377104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.3660397204793823, 1.068501822240627, 1.8223413293747615, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.2922617067614433, 1.0391810791110363, 1.8223412703624364, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.26087734603368823, 1.027929076432192, 1.822342096535298, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.2156545893789589, 1.0170396751340485, 1.8223422145599966, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.15380115683870182, 0.9861290360408281, 1.8223412703624364, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.07963153348208135, 0.9494544394884901, 0.9765846884687716, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.07793335631186041, 0.9442931677768872, 1.4079806891456714, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.0672183116102603, 0.9306444965531181, 0.3233472215754447, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0695200332669903, 1.3006516770198373, 4.181566402066172e-07, 0.33750051233734374, 4.226478877583691e-06, 1.682638155727612e-06, 0.6677012226227601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.028938001603515, 0.918062186358046, 2.1884125262839815e-08, 0.2649890726520339, 2.1600445885058866e-06, 1.468659137121608e-06, 0.34805881706257336, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.028938001603515, 0.918062186358046, 2.1884125262839815e-08, 0.2649890726520339, 2.1600445885058866e-06, 1.468659137121608e-06, 0.34805881706257336, 0.0], "min": [-3.044300079345703, -2.4656901359558105, -0.01898323930799961, 0.9992874264717102, 0.0, -3.346068666587598e-08, 0.0, -1.0, -2.847317934036255, -2.7536067962646484, 0.4610215425491333, -0.9999996423721313, -0.08770322799682617, -0.7069053053855896, -0.9952576756477356, 0.0, -2.9994304180145264, -2.43135404586792, -0.018983321264386177, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999996423721313, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.9195659160614014, -2.3702383041381836, -0.9397495985031128, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999996423721313, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.9163293838500977, -2.3677613735198975, -0.018983371555805206, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999996423721313, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.914198875427246, -2.366131067276001, -0.018983371555805206, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.8328857421875, -2.3039069175720215, -0.018983548507094383, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.777979612350464, -2.261890411376953, -0.01898345910012722, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.749612808227539, -2.240182876586914, -0.018983427435159683, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.70514178276062, -2.2061517238616943, -0.11108726263046265, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.6666979789733887, -2.1767327785491943, 0.47910889983177185, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.6421756744384766, -2.1579673290252686, 0.47910869121551514, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.5833396911621094, -2.112943410873413, 0.4791082441806793, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.50637149810791, -2.054044008255005, 0.479108601808548, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.499844551086426, -2.049049139022827, 0.47910916805267334, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.4896116256713867, -2.0412185192108154, 0.4791090190410614, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.4169297218322754, -1.9855992794036865, 0.4791082739830017, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.370568037033081, -1.9501214027404785, 0.65318763256073, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.333737373352051, -1.9219368696212769, 0.6531850695610046, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.274857759475708, -1.8768796920776367, -0.3225739002227783, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.250192642211914, -1.8580049276351929, 0.6531887054443359, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.2347638607025146, -1.8461980819702148, 0.6531847715377808, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.167161464691162, -1.7944658994674683, 0.6531857252120972, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.0989599227905273, -1.7422751188278198, 0.653184711933136, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.084134817123413, -1.7309303283691406, 0.6531856060028076, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.0604348182678223, -1.7127940654754639, 0.6531859040260315, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -2.0005905628204346, -1.6669986248016357, 0.6531851887702942, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.9631562232971191, -1.6383522748947144, 0.6531857252120972, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.9173933267593384, -1.60333251953125, 0.6531851291656494, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.8456506729125977, -1.5484319925308228, 0.6531867384910583, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.834478497505188, -1.5398825407028198, 0.6531855463981628, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.8273520469665527, -1.5344290733337402, 0.6531859636306763, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.7509880065917969, -1.47599196434021, 0.653185248374939, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.691548228263855, -1.4305061101913452, 0.6531863212585449, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.6676251888275146, -1.4121991395950317, 0.653185248374939, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.6301207542419434, -1.3834991455078125, 0.6531854271888733, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.5847103595733643, -1.3487491607666016, 0.6531845927238464, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.5557441711425781, -1.3265830278396606, 0.6531845331192017, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.5013856887817383, -1.2849856615066528, 0.6531850099563599, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.4199401140213013, -1.2226600646972656, 0.6531906127929688, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.417857050895691, -1.2210659980773926, 0.6531893610954285, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.4145913124084473, -1.21856689453125, 0.6531854271888733, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.334942102432251, -1.1576159000396729, 0.6531856060028076, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.2841362953186035, -1.1187371015548706, 0.6531857252120972, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.2517833709716797, -1.0939792394638062, 0.6531844735145569, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.2000623941421509, -1.0544002056121826, 0.6531850099563599, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.1682387590408325, -1.0300474166870117, 0.6531857252120972, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.1483319997787476, -1.0148138999938965, 0.6531859040260315, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.0851738452911377, -0.9664825201034546, 0.6531851291656494, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.0125280618667603, -0.9108908772468567, 0.6531850099563599, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -1.0021809339523315, -0.9029728174209595, 0.6531844139099121, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.9856395125389099, -0.8903146386146545, 0.6531854271888733, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.9186362624168396, -0.8390408754348755, 0.6531850695610046, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.8767239451408386, -0.8069677948951721, 0.6531851291656494, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.8354054689407349, -0.7753491401672363, 0.6531854271888733, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.7706301808357239, -0.7257803082466125, 0.6531835198402405, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.7524905800819397, -0.7118991613388062, 0.6531861424446106, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.740919828414917, -0.7030447125434875, 0.6531853079795837, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.6689496040344238, -0.6479700207710266, 0.6531855463981628, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.6042875051498413, -0.5984877943992615, 0.6531867980957031, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.5850544571876526, -0.5837697982788086, -3.0280768871307373, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.5563161969184875, -0.5617780685424805, -3.028079032897949, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.5002549290657043, -0.5188776254653931, -3.0280795097351074, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.46204257011413574, -0.4896359145641327, -3.028078079223633, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.4131845533847809, -0.452247679233551, -3.028078317642212, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.3483247756958008, -0.40261420607566833, -3.028078079223633, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.32452070713043213, -0.38439831137657166, -3.028079032897949, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.30673497915267944, -0.3707878887653351, -3.0280802249908447, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.23272643983364105, -0.31415340304374695, -3.028078317642212, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.14519423246383667, -0.24717003107070923, -1.3195881843566895, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.1400904357433319, -0.24326439201831818, -2.1910386085510254, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.13578593730926514, -0.239970400929451, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.669750452041626, -0.9999985098838806, -6.143546670500655e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.6697513461112976, -0.9999985098838806, -6.032775672792923e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -2.847317934036255, -2.7536067962646484, 0.6697513461112976, -0.9999985098838806, -6.032775672792923e-06, -1.189876002172241e-06, -0.9952576756477356, 0.0], "max": [0.3003464341163635, 1.6660000085830688, 0.6531839966773987, 1.0, 2.0954757928848267e-08, 0.0, 0.03774362802505493, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697710156440735, 0.9999992847442627, 0.07519887387752533, 0.7067798972129822, 0.9999998807907104, 1.0, 0.0732308104634285, 1.6633048057556152, 0.6531853675842285, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697568297386169, 0.09471780061721802, 6.017530722601805e-06, 2.0382358343340456e-05, 0.9999998807907104, 0.0, 0.13565951585769653, 1.670795202255249, 0.6532238721847534, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697568297386169, 0.09471780061721802, 6.017530722601805e-06, 2.0382358343340456e-05, 0.9999998807907104, 0.0, 0.1444992870092392, 1.6586978435516357, 0.6531705260276794, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697568297386169, 0.09471780061721802, 6.017530722601805e-06, 2.0382358343340456e-05, 0.9999998807907104, 0.0, 0.19479356706142426, -0.1674553006887436, 0.6531842947006226, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.2563653886318207, -0.16862428188323975, 0.6531851291656494, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.3152029812335968, -0.16974136233329773, 0.6531862616539001, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.37507373094558716, -0.17087805271148682, 0.6531856656074524, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.4340600371360779, -0.17199794948101044, 0.6531870365142822, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.46096980571746826, -0.1749996393918991, 0.6531835794448853, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.4959293603897095, -0.15683889389038086, 0.6531865000724792, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.534250020980835, -0.1369321346282959, 0.6531857252120972, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.5588610172271729, -0.12414726614952087, 0.6532017588615417, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.6388654708862305, -0.08258668333292007, 0.6531820893287659, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.6534414291381836, -0.07501477748155594, 0.6531847715377808, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.6767457127571106, -0.06290869414806366, 0.6531844139099121, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.7665513157844543, -0.0162566639482975, 1.1388766765594482, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.7870171666145325, 0.028142962604761124, 1.1388756036758423, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8108524680137634, 0.07985229790210724, 0.6531842947006226, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8625666499137878, 0.06256691366434097, 1.202978253364563, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8703272342681885, 0.08270569890737534, 1.2029783725738525, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8924418687820435, 0.1400933861732483, 1.202978491783142, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9225443601608276, 0.21820968389511108, 1.202976942062378, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9293917417526245, 0.2359786331653595, 1.2029787302017212, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9480241537094116, 0.28432998061180115, 1.2029781341552734, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9677911996841431, 0.33562561869621277, 1.2029786109924316, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9776759147644043, 0.3612765669822693, 1.202978491783142, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0062298774719238, 0.4353744089603424, 1.2671799659729004, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.024999976158142, 0.495284765958786, 1.5074374675750732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.025144100189209, 0.4975564479827881, 1.5074542760849, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0291208028793335, 0.560253918170929, 1.5074557065963745, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0327242612838745, 0.6170679926872253, 1.5074542760849, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0349360704421997, 0.6519397497177124, 1.5074554681777954, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0382241010665894, 0.7037804126739502, 1.5074551105499268, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0412733554840088, 0.7518561482429504, 1.5074548721313477, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0448518991470337, 0.8082766532897949, 1.507455587387085, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0475672483444214, 0.8510882258415222, 1.5074548721313477, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.048947811126709, 0.8728546500205994, 1.5074551105499268, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0535261631011963, 0.9450387358665466, 2.0871496200561523, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.024999976158142, 0.9952847957611084, 1.7713967561721802, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0245639085769653, 0.997429370880127, 1.7713803052902222, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0097824335098267, 1.0701305866241455, 1.7713799476623535, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 1.0008275508880615, 1.1141743659973145, 1.77138090133667, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9900364875793457, 1.1672489643096924, 1.7713810205459595, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9700376391410828, 1.265610933303833, 1.771384358406067, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9691184163093567, 1.2701319456100464, 1.7713783979415894, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.967615008354187, 1.2775263786315918, 1.7713805437088013, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.9483264684677124, 1.3723950386047363, 1.7713812589645386, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.937894344329834, 1.4237041473388672, 3.0391147136688232, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8692353963851929, 1.43076491355896, 2.499296188354492, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8575641512870789, 1.439496397972107, 2.4992928504943848, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8307884335517883, 1.4595279693603516, 2.4992949962615967, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.8231269717216492, 1.4652596712112427, 2.499293804168701, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.7526793479919434, 1.517963171005249, 2.499293804168701, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.7031182646751404, 1.555040955543518, 2.4992940425872803, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.6595388054847717, 1.5876437425613403, 2.499293088912964, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.6235998272895813, 1.6145305633544922, 2.4992942810058594, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.5838106870651245, 1.64429771900177, 2.499295473098755, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.5392270684242249, 1.6776516437530518, 2.364225387573242, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.4911116659641266, 1.7250003814697266, 0.6531850099563599, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.4618127644062042, 1.7216601371765137, 0.6531848907470703, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.44593334197998047, 1.7198498249053955, 0.6531850099563599, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.3547722399234772, 1.7094571590423584, 0.6531851887702942, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.3262426257133484, 1.7062046527862549, 0.6531853079795837, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.24206538498401642, 1.696608066558838, 0.6531854271888733, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.20247073471546173, 1.692094087600708, 0.6531861424446106, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.12890316545963287, 1.6837071180343628, 0.6531851887702942, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.0779632180929184, 1.6778998374938965, 0.6531851887702942, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.015667326748371124, 1.6707978248596191, 0.6531847715377808, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.017340680584311485, 1.6642773151397705, 0.653186023235321, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, 0.0, 1.6399999856948853, 0.6531851887702942, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3297789096832275, 1.982208013534546, 0.6697514653205872, 0.09471780061721802, 6.017530722601805e-06, 5.960891030554194e-06, 0.9999998807907104, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, 0.316331684589386, 0.18566659092903137, 0.6697514653205872, 0.09153122454881668, 5.91119578530197e-06, 5.731927558372263e-06, 0.9996747970581055, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 0.316331684589386, 0.18566659092903137, 0.6697514653205872, 0.09153122454881668, 5.91119578530197e-06, 5.731927558372263e-06, 0.9996747970581055, 0.0], "count": [1896]}, "action.applied": {"mean": [0.032643873065310955, 0.06190816260892867, 0.16935104666938927, 0.5365125906932706, 0.039119677048349434, 0.039119677048349434, 0.039119677048349434, 0.039119677048349434, 1.286550196921669, -0.2754347573129685, -0.28182933029983886, 0.026371308016877638, 0.026371308016877638], "std": [0.1055134587512885, 0.09648639199004273, 0.2683078292453338, 0.07496114631140817, 0.027297934503944844, 0.027297934503944844, 0.027297934503944844, 0.027297934503944844, 0.5860410007573548, 0.5433532881437491, 0.5803950351187842, 0.07679440811477345, 0.07679440811477345], "min": [-0.29999327659606934, -0.051894403994083405, -0.25, 0.4999951422214508, 0.024939492344856262, 0.024939492344856262, 0.024939492344856262, 0.024939492344856262, -0.0996178612112999, -1.4432380199432373, -1.6193904876708984, 0.0, 0.0], "max": [0.29649779200553894, 0.29999837279319763, 0.800000011920929, 0.7164888978004456, 0.10130082815885544, 0.10130082815885544, 0.10130082815885544, 0.10130082815885544, 1.5711798667907715, 8.901679393602535e-05, 8.383504450648616e-07, 0.25, 0.25], "count": [1896]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1896]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1896]}, "sim_step_idx": {"mean": [1956.0], "std": [1094.655958128702], "min": [61.0], "max": [3851.0], "count": [1896]}, "timestamp": {"mean": [37.900000004820875], "std": [21.893119167308747], "min": [0.0], "max": [75.80000305175781], "count": [1896]}, "frame_index": {"mean": [947.5], "std": [547.327979064351], "min": [0.0], "max": [1895.0], "count": [1896]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1896]}, "index": {"mean": [947.5], "std": [547.327979064351], "min": [0.0], "max": [1895.0], "count": [1896]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1896]}, "next.done": {"mean": [0.0005274261603375527], "std": [0.02295970343847987], "min": [0.0], "max": [1.0], "count": [1896]}, "observation.images.head": {"mean": [[[0.5432936714976049]], [[0.5058173735079797]], [[0.4304363774151506]]], "std": [[[0.07935527489251826]], [[0.08255571409557173]], [[0.09624141313297696]]], "min": [[[0.12941176470588237]], [[0.13333333333333333]], [[0.10980392156862745]]], "max": [[[0.8627450980392157]], [[0.8627450980392157]], [[0.8627450980392157]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5260801636521726]], [[0.5082129977311347]], [[0.47082953188245336]]], "std": [[[0.12498972849189374]], [[0.12296441278080647]], [[0.13938627886822164]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9176470588235294]]], "count": [100]}}}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,599 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MemoryStage",
+ "subsample_every": 2,
+ "control_steps": 3792,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "st_wall_l_1",
+     "cat_name": "st_wall_l",
+     "inst_id": 1,
+     "noun": "st wall l",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      1.8835510638248567,
+      3.6423093214376507,
+      0.7699997783793958
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_wall_r_1",
+     "cat_name": "st_wall_r",
+     "inst_id": 1,
+     "noun": "st wall r",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.8651563103972024,
+      3.833231137639034,
+      0.769999679254195
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_wall_top_1",
+     "cat_name": "st_wall_top",
+     "inst_id": 1,
+     "noun": "st wall top",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.3743537268147,
+      3.737770233082983,
+      1.1699997288167936
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0000000000000002
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       -1.1102230246251565e-16
+      ]
+     }
+    },
+    {
+     "id": "st_wall_bottom_1",
+     "cat_name": "st_wall_bottom",
+     "inst_id": 1,
+     "noun": "st wall bottom",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.374353627555524,
+      3.737770224221381,
+      0.1699997288167985
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_table_a_1",
+     "cat_name": "st_table_a",
+     "inst_id": 1,
+     "noun": "st table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.431630172415939,
+      3.443288650249676,
+      0.16999972574115443
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000000000002,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_table_b_1",
+     "cat_name": "st_table_b",
+     "inst_id": 1,
+     "noun": "st table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.317077082695109,
+      4.032251798193086,
+      0.16999973189244258
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000000000002,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_booth_l_1",
+     "cat_name": "st_booth_l",
+     "inst_id": 1,
+     "noun": "st booth l",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      1.970275756156525,
+      3.353555401065827,
+      0.6699997723299963
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       1.7763568394002505e-15,
+       0.0,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "st_booth_r_1",
+     "cat_name": "st_booth_r",
+     "inst_id": 1,
+     "noun": "st booth r",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.892984687934529,
+      3.533021908295127,
+      0.6699996791523076
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       -1.7763568394002505e-15,
+       0.0,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "weigher_1",
+     "cat_name": "weigher",
+     "inst_id": 1,
+     "noun": "weigher",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      2.307531007184945,
+      4.081332085697317,
+      0.36999973955760657
+     ],
+     "bbox": {
+      "extent": [
+       0.36000001430511475,
+       0.18000000715255737,
+       0.07999999915808442
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.03999999952688815
+      ]
+     }
+    },
+    {
+     "id": "item_red_1",
+     "cat_name": "item_red",
+     "inst_id": 1,
+     "noun": "item red",
+     "color": "red",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      2.1897370630830073,
+      4.058420118403366,
+      0.4359336942475732
+     ],
+     "bbox": {
+      "extent": [
+       0.02411313439653217,
+       0.024063398002948308,
+       0.02417607618403722
+      ],
+      "center": [
+       9.313225529314351e-10,
+       -9.313225685439463e-10,
+       0.012000003829598399
+      ]
+     }
+    },
+    {
+     "id": "item_blue_1",
+     "cat_name": "item_blue",
+     "inst_id": 1,
+     "noun": "item blue",
+     "color": "blue",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      2.42532296882239,
+      4.104242451576286,
+      0.4375726789794848
+     ],
+     "bbox": {
+      "extent": [
+       0.02408478355405412,
+       0.024049336765013703,
+       0.024133812879108818
+      ],
+      "center": [
+       9.31322556400882e-10,
+       -9.313223386930858e-10,
+       0.01200000382959851
+      ]
+     }
+    },
+    {
+     "id": "delivery_1",
+     "cat_name": "delivery",
+     "inst_id": 1,
+     "noun": "delivery",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.60228254766201,
+      4.189598087671655,
+      0.372999702188844
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "st_wall_l_1",
+     "relation": "on_top_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_l_1",
+     "relation": "left_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "on_top_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "left_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "on_top_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "right_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "st_wall_bottom_1",
+     "relation": "left_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "st_table_a_1",
+     "relation": "right_of",
+     "object": "st_wall_bottom_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "right_of",
+     "object": "st_wall_l_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "right_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "weigher_1",
+     "relation": "in_front_of",
+     "object": "item_red_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "behind",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "in_front_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "delivery_1",
+     "relation": "left_of",
+     "object": "item_blue_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        811.3606627541883,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        811.3606388722814,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.5669622619146777,
+      3.0081807857083893,
+      1.235722677589742
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
+       [
+        0.5646357088821415,
+        -2.9266214562895243e-06,
+        0.825340242716055
+       ],
+       [
+        -0.825340242721242,
+        -1.9347513867118415e-06,
+        0.5646357088788294
+       ]
+      ],
+      "t": [
+       -0.0029374520292166934,
+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        426.91786449658065,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        426.9178503597538,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.5143629905301648,
+      3.0650658396923127,
+      -0.0036022785510261834
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
+        3.46210948901734e-06,
+        0.9848141327789798,
+        0.1736119922897026
+       ],
+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
+       ]
+      ],
+      "t": [
+       0.008999751121030937,
+       -0.07177462016445776,
+       0.044614582297616646
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.0443,
+       -2.4657,
+       0.06
+      ],
+      "ori": [
+       0.9953619241714478,
+       0.0,
+       0.0,
+       -0.09620099514722824
+      ]
+     },
+     "facing_yaw_deg": -11.040896741606193,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n   [s[st booth r]\n[delivery]e]le a]m]\n [item red]b]\n    [s[st booth l]\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 3.141592653589793.",
+   "task_id": "N052",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,344 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1896,
+    "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",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "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",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                95
+            ],
+            "names": [
+                "articulation_joint_pos.weigher.0",
+                "articulation_joint_pos.weigher.1",
+                "articulation_joint_vel.weigher.0",
+                "articulation_joint_vel.weigher.1",
+                "articulation_pose.weigher.0",
+                "articulation_pose.weigher.1",
+                "articulation_pose.weigher.2",
+                "articulation_pose.weigher.3",
+                "articulation_pose.weigher.4",
+                "articulation_pose.weigher.5",
+                "articulation_pose.weigher.6",
+                "object_pose.delivery.0",
+                "object_pose.delivery.1",
+                "object_pose.delivery.2",
+                "object_pose.delivery.3",
+                "object_pose.delivery.4",
+                "object_pose.delivery.5",
+                "object_pose.delivery.6",
+                "object_pose.item_blue.0",
+                "object_pose.item_blue.1",
+                "object_pose.item_blue.2",
+                "object_pose.item_blue.3",
+                "object_pose.item_blue.4",
+                "object_pose.item_blue.5",
+                "object_pose.item_blue.6",
+                "object_pose.item_red.0",
+                "object_pose.item_red.1",
+                "object_pose.item_red.2",
+                "object_pose.item_red.3",
+                "object_pose.item_red.4",
+                "object_pose.item_red.5",
+                "object_pose.item_red.6",
+                "object_pose.st_booth_l.0",
+                "object_pose.st_booth_l.1",
+                "object_pose.st_booth_l.2",
+                "object_pose.st_booth_l.3",
+                "object_pose.st_booth_l.4",
+                "object_pose.st_booth_l.5",
+                "object_pose.st_booth_l.6",
+                "object_pose.st_booth_r.0",
+                "object_pose.st_booth_r.1",
+                "object_pose.st_booth_r.2",
+                "object_pose.st_booth_r.3",
+                "object_pose.st_booth_r.4",
+                "object_pose.st_booth_r.5",
+                "object_pose.st_booth_r.6",
+                "object_pose.st_table_a.0",
+                "object_pose.st_table_a.1",
+                "object_pose.st_table_a.2",
+                "object_pose.st_table_a.3",
+                "object_pose.st_table_a.4",
+                "object_pose.st_table_a.5",
+                "object_pose.st_table_a.6",
+                "object_pose.st_table_b.0",
+                "object_pose.st_table_b.1",
+                "object_pose.st_table_b.2",
+                "object_pose.st_table_b.3",
+                "object_pose.st_table_b.4",
+                "object_pose.st_table_b.5",
+                "object_pose.st_table_b.6",
+                "object_pose.st_wall_bottom.0",
+                "object_pose.st_wall_bottom.1",
+                "object_pose.st_wall_bottom.2",
+                "object_pose.st_wall_bottom.3",
+                "object_pose.st_wall_bottom.4",
+                "object_pose.st_wall_bottom.5",
+                "object_pose.st_wall_bottom.6",
+                "object_pose.st_wall_l.0",
+                "object_pose.st_wall_l.1",
+                "object_pose.st_wall_l.2",
+                "object_pose.st_wall_l.3",
+                "object_pose.st_wall_l.4",
+                "object_pose.st_wall_l.5",
+                "object_pose.st_wall_l.6",
+                "object_pose.st_wall_r.0",
+                "object_pose.st_wall_r.1",
+                "object_pose.st_wall_r.2",
+                "object_pose.st_wall_r.3",
+                "object_pose.st_wall_r.4",
+                "object_pose.st_wall_r.5",
+                "object_pose.st_wall_r.6",
+                "object_pose.st_wall_top.0",
+                "object_pose.st_wall_top.1",
+                "object_pose.st_wall_top.2",
+                "object_pose.st_wall_top.3",
+                "object_pose.st_wall_top.4",
+                "object_pose.st_wall_top.5",
+                "object_pose.st_wall_top.6",
+                "object_pose.weigher.0",
+                "object_pose.weigher.1",
+                "object_pose.weigher.2",
+                "object_pose.weigher.3",
+                "object_pose.weigher.4",
+                "object_pose.weigher.5",
+                "object_pose.weigher.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1168
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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
+            }
+        }
+    }
+}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:03:55"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "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": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "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": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."}

N052/stretch3/dr_off/seed_5005/rec/memorystage/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 sha256:50d32d783d247f14e0d884796a97d74520e02fbfe07131694cd199c244c8be9b
+size 21545092

N052/stretch3/dr_off/seed_5005/rec/memorystage/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 sha256:52664cfbddc3f5c4cd6db7f2151f390cfdc55d5f640ee70f051b4151750b05f0
+size 31863255

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/run_meta.json

@@ -0,0 +1,1048 @@
+{
+    "run_id": "memorystage/000",
+    "created": "2026-11-09 23:41:32",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n052_str_off_5005/out/rec",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MemoryN052Env-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "dt": 0.005,
+                "decimation": 4,
+                "seed": 5005,
+                "soft_resets": 100,
+                "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": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.0443,
+                                -2.4657,
+                                0.06
+                            ],
+                            [
+                                -3.0443,
+                                -2.4657,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                -11.040896712170964
+                            ],
+                            [
+                                0,
+                                0,
+                                -11.040896712170964
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "joint_lift": 0.5,
+                            "joint_arm_l[0-3]": 0.025,
+                            "joint_wrist_yaw": 1.5707963267948966
+                        }
+                    },
+                    "action": {
+                        "base_action": "differential_virtual",
+                        "arm_action": "ik_abs",
+                        "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": "hellorobot",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 8,
+                            "ik_max_goalset": 1,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true,
+                            "mode": "position"
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_differential",
+                            "dwb_differential": {
+                                "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": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.26,
+                                "room_size": 20.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.45,
+                                "scan_min_z": 0.22,
+                                "scan_max_z": 1.75,
+                                "goal_pos_threshold": 0.04,
+                                "goal_yaw_threshold": 0.05,
+                                "kp_goal_yaw": 1.5,
+                                "min_speed": -0.3,
+                                "max_speed": 0.3,
+                                "w_heading": 0.5,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": false,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "goal_heading_fade_distance": 0.5,
+                                "scan_type": "3d",
+                                "own_body_clear": true,
+                                "own_body_radius": 0.3,
+                                "goal_cost_mode": "path"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 0.2,
+                                "kp_linear_x": 2.0,
+                                "kp_linear_y": 2.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 0.1,
+                                "kd_linear_y": 0.1,
+                                "min_vel": -0.25,
+                                "max_vel": 0.35,
+                                "linear_dead_zone": 0.003,
+                                "angular_dead_zone": 0.004,
+                                "nav_heading_target": 1,
+                                "velocity_frame": "world"
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.35,
+                        "wheel_base": 0.5
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.73834228515625,
+                        "horizontal_aperture": 2.1600000858306885,
+                        "vertical_aperture": 1.62,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/base_link",
+                        "pos": [
+                            0.049771,
+                            -0.002942,
+                            1.295723
+                        ],
+                        "ori": [
+                            0.0002,
+                            -55.623,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.280753493309021,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.44,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/link_gripper_s3_body",
+                        "pos": [
+                            0.009,
+                            0.062939,
+                            0.056398
+                        ],
+                        "ori": [
+                            -170.0021,
+                            0.0,
+                            -179.9998
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "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"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "st_wall_l": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.5,
+                                0.75,
+                                0.83
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.4,
+                                0.1,
+                                1.6
+                            ]
+                        },
+                        "st_wall_l_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_r": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.5,
+                                0.75,
+                                0.83
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.4,
+                                0.1,
+                                1.6
+                            ]
+                        },
+                        "st_wall_r_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_top": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.75,
+                                1.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.1,
+                                0.8
+                            ]
+                        },
+                        "st_wall_top_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_bottom": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.75,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.1,
+                                0.4
+                            ]
+                        },
+                        "st_wall_bottom_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.45,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.5,
+                                0.4
+                            ]
+                        },
+                        "st_table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.05,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.5,
+                                0.4
+                            ]
+                        },
+                        "st_table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_booth_l": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.47,
+                                0.45,
+                                0.73
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.04,
+                                0.5,
+                                1.4
+                            ]
+                        },
+                        "st_booth_l_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.7,
+                                    0.75,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_booth_r": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.47,
+                                0.45,
+                                0.73
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.04,
+                                0.5,
+                                1.4
+                            ]
+                        },
+                        "st_booth_r_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.7,
+                                    0.75,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "weigher": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Station/n052_scale/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.1,
+                                0.43
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "weigher_1": {
+                            "physics": {
+                                "type": "articulation"
+                            }
+                        }
+                    },
+                    "item_red": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.12,
+                                1.1,
+                                0.501
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "item_red_1": {
+                            "visual": {
+                                "color": [
+                                    0.9,
+                                    0.12,
+                                    0.1
+                                ]
+                            },
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.05,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "item_blue": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.12,
+                                1.1,
+                                0.501
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "item_blue_1": {
+                            "visual": {
+                                "color": [
+                                    0.12,
+                                    0.25,
+                                    0.95
+                                ]
+                            },
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.05,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "delivery": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.31,
+                                1.15,
+                                0.433
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.13,
+                                0.13,
+                                0.006
+                            ]
+                        },
+                        "delivery_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.15,
+                                    0.55,
+                                    0.9
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 120,
+                    "agent_height_cm": 110,
+                    "min_agent_radius_cm": 30.0,
+                    "max_agent_radius_cm": 30.0,
+                    "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,
+                    "validate_path_reroute": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": true
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "task_id": "N052",
+            "family_id": "measured_attribute_memory",
+            "level": "easy",
+            "agent_id": "a11",
+            "embodiment": "stretch3",
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_s": 480.0,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "arrive_radius": 0.4,
+                "arrive_yaw_tol": 0.45,
+                "arrive_dwell_s": 1.0,
+                "layout": {
+                    "room_x": [
+                        -4.4,
+                        4.4
+                    ],
+                    "room_y": [
+                        -3.25,
+                        4.75
+                    ],
+                    "floor_z": 0.03,
+                    "center": [
+                        0.0,
+                        0.75
+                    ],
+                    "wall_half_x": 0.7,
+                    "wall_thick": 0.1,
+                    "wall_height": 1.6,
+                    "table_top": 0.4,
+                    "table_half_x": 0.45,
+                    "table_depth": 0.5,
+                    "stand_clear": 0.34,
+                    "start": [
+                        -3.0443,
+                        -2.4657,
+                        -0.1927
+                    ],
+                    "flip_x": false,
+                    "b_dx": 0.0,
+                    "b_dyaw": 0.0,
+                    "window": [
+                        -0.3,
+                        0.3,
+                        0.4,
+                        0.8
+                    ],
+                    "booth_height": 1.0,
+                    "booth_thick": 0.04
+                }
+            },
+            "audit": {
+                "read_s": 0.5,
+                "gap_s": 1.0,
+                "legible_range": 3.0,
+                "cameras": {
+                    "head": {
+                        "mount": "base",
+                        "offset": [
+                            -0.12,
+                            0.0,
+                            1.3
+                        ],
+                        "pitch_deg": -45.0,
+                        "hfov_deg": 73.74,
+                        "vfov_deg": 58.72,
+                        "far": 8.0,
+                        "pan_deg": -90.0
+                    }
+                }
+            },
+            "command": {
+                "MemoryStage": {
+                    "script": "n052",
+                    "init_limit": 60,
+                    "hold_after_every_walk": true
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MemoryStage": {
+                    "script": "n052",
+                    "init_limit": 60,
+                    "hold_after_every_walk": true
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "carry_arm": true,
+                    "settle_speed": 0.03,
+                    "settle_yaw_rate": 0.05,
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.12,
+                    "rotation_threshold": 0.12,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "MoveL": {
+                    "translation_threshold": 0.003,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.2,
+                    "timeout_steps": 50,
+                    "debug": false
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0,
+                    "timeout_steps": 3000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.15,
+                    "base_rot_threshold": 0.1,
+                    "eef_pos_threshold": 0.05,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 10.0,
+                    "debug": true,
+                    "interp_steps": 80,
+                    "min_steps_before_done": 10
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.01,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.01,
+                    "timeout_steps": 200,
+                    "stride": 1,
+                    "debug": false,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.15,
+                    "waypoint_max_steps": 3,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "linear_synth_lookahead": 0.1,
+                    "linear_synth_max_waypoints": 10
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.006,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "hold_steps": 20,
+                    "obstacle_avoid_paths": [
+                        "dynamic"
+                    ],
+                    "obstacle_ignore_paths": []
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.15,
+                    "retrieval_offset": 0.2,
+                    "mobile": true,
+                    "reactive": true,
+                    "pre_grasp_mode": -1
+                }
+            },
+            "auto_collect": {
+                "task_type": "memory",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n052_str_off_5005/out/rec",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "item_red",
+                "item_blue",
+                "ruler*",
+                "delivery"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e6ba58476f98599f8b418b0645995f7ccd038932b5759c9765b79175762ea50
+size 853163

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,729 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "memorystage/000",
+    "task_type": "MemoryStage",
+    "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": [
+                {
+                    "st_wall_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -0.5,
+                                    0.75,
+                                    0.83
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.4,
+                                    0.1,
+                                    1.6
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.5,
+                                    0.75,
+                                    0.83
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.4,
+                                    0.1,
+                                    1.6
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_top": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.75,
+                                    1.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.1,
+                                    0.8
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_bottom": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.75,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.1,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.45,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.5,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    1.05,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.5,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_booth_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -0.47,
+                                    0.45,
+                                    0.73
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.04,
+                                    0.5,
+                                    1.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.7,
+                                        0.75,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_booth_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.47,
+                                    0.45,
+                                    0.73
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.04,
+                                    0.5,
+                                    1.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.7,
+                                        0.75,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "weigher": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Station/n052_scale/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    1.100000023841858,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    -0.00391643401235342,
+                                    -0.00228174333460629
+                                ],
+                                "joint_velocity": [
+                                    0.02038629539310932,
+                                    0.017910880967974663
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ],
+                    "item_red": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -0.12000155448913574,
+                                    1.099998950958252,
+                                    0.4959339499473572
+                                ],
+                                "ori": [
+                                    0.9999991059303284,
+                                    -0.0006583966314792633,
+                                    0.0011761891655623913,
+                                    -1.4547258615493774e-06
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.9,
+                                        0.12,
+                                        0.1
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.05,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.0001784602354746312,
+                                    0.0005645016790367663,
+                                    0.0203902218490839
+                                ],
+                                "angular_velocity": [
+                                    0.021324709057807922,
+                                    -0.006267002318054438,
+                                    0.012996668927371502
+                                ]
+                            }
+                        }
+                    ],
+                    "item_blue": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    0.11999928951263428,
+                                    1.0999999046325684,
+                                    0.49757295846939087
+                                ],
+                                "ori": [
+                                    0.9999995827674866,
+                                    -0.0005123540759086609,
+                                    0.0008815205655992031,
+                                    1.1641532182693481e-06
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.12,
+                                        0.25,
+                                        0.95
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.05,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -3.9347869460470974e-06,
+                                    -0.00033889402402564883,
+                                    0.017830517143011093
+                                ],
+                                "angular_velocity": [
+                                    -0.014137602411210537,
+                                    -0.03390102460980415,
+                                    -0.008878570981323719
+                                ]
+                            }
+                        }
+                    ],
+                    "delivery": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.31,
+                                    1.15,
+                                    0.433
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.13,
+                                    0.13,
+                                    0.006
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.15,
+                                        0.55,
+                                        0.9
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "HelloRobot": {
+                "root_pose": [
+                    [
+                        -3.044300079345703,
+                        -2.4656999111175537,
+                        0.05999999865889549,
+                        0.9953619241714478,
+                        0.0,
+                        0.0,
+                        -0.09620099514722824
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.5,
+                        0.0,
+                        0.0,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        1.5707963705062866,
+                        0.0,
+                        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,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.04977099969983101,
+                        -0.002942000050097704,
+                        1.2957229614257812,
+                        -0.6254264116287231,
+                        -0.3299117982387543,
+                        0.32990962266921997,
+                        0.6254276037216187
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.008999999612569809,
+                        0.06293900310993195,
+                        0.056398000568151474,
+                        -1.5083966786733072e-07,
+                        1.7244702803509426e-06,
+                        0.9961962699890137,
+                        0.08713743835687637
+                    ]
+                ]
+            }
+        }
+    }
+}

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b7b77be36eb35b08007e62f7951b9ae5ae6a2d920d1da5cf63ac8c1138abc9
+size 541524

N052/stretch3/dr_off/seed_5005/rec/memorystage/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:04:21"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "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": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N052/stretch3/dr_off/seed_5005/report.json

@@ -0,0 +1,952 @@
+{
+  "task_id": "N052",
+  "config": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/src/magicsim/Collect/Task/MemoryStation/Conf/memory_n052_easy.yaml",
+  "episodes": [
+    {
+      "task_id": "N052",
+      "task_version": "EXT60-MobileAvatar-v3",
+      "agent_id": "a11",
+      "family_id": "measured_attribute_memory",
+      "primary_category": "C6",
+      "level": "easy",
+      "embodiment": "stretch3",
+      "scene_seed": 5005,
+      "execution_mode": "expert_collect_chain",
+      "station_layout": {
+        "A": [
+          0.0,
+          -0.14,
+          3.142
+        ],
+        "A_obs": null,
+        "B": [
+          0.0,
+          1.64,
+          0.0
+        ],
+        "S": [
+          -3.044,
+          -2.466,
+          -0.193
+        ],
+        "flip_x": false,
+        "route_m": {
+          "S_to_A_m": null,
+          "A_to_B_m": null,
+          "A_to_B_straight_m": 1.78,
+          "S_to_A_straight_m": 3.83
+        }
+      },
+      "spawn_pose": [
+        -3.0443,
+        -2.4657,
+        -0.1927
+      ],
+      "base_path": [
+        [
+          -3.044,
+          -2.466,
+          -0.193,
+          0.02
+        ],
+        [
+          -2.947,
+          -2.426,
+          0.478,
+          2.74
+        ],
+        [
+          -2.86,
+          -2.374,
+          0.601,
+          3.08
+        ],
+        [
+          -2.778,
+          -2.313,
+          0.675,
+          3.42
+        ],
+        [
+          -2.7,
+          -2.247,
+          0.714,
+          3.76
+        ],
+        [
+          -2.624,
+          -2.18,
+          0.727,
+          4.1
+        ],
+        [
+          -2.547,
+          -2.112,
+          0.725,
+          4.44
+        ],
+        [
+          -2.471,
+          -2.045,
+          0.715,
+          4.78
+        ],
+        [
+          -2.393,
+          -1.978,
+          0.701,
+          5.12
+        ],
+        [
+          -2.315,
+          -1.913,
+          0.688,
+          5.46
+        ],
+        [
+          -2.236,
+          -1.849,
+          0.676,
+          5.8
+        ],
+        [
+          -2.156,
+          -1.785,
+          0.666,
+          6.14
+        ],
+        [
+          -2.075,
+          -1.722,
+          0.659,
+          6.48
+        ],
+        [
+          -1.995,
+          -1.66,
+          0.655,
+          6.82
+        ],
+        [
+          -1.914,
+          -1.598,
+          0.652,
+          7.16
+        ],
+        [
+          -1.832,
+          -1.536,
+          0.651,
+          7.5
+        ],
+        [
+          -1.751,
+          -1.474,
+          0.65,
+          7.84
+        ],
+        [
+          -1.67,
+          -1.413,
+          0.65,
+          8.18
+        ],
+        [
+          -1.589,
+          -1.351,
+          0.651,
+          8.52
+        ],
+        [
+          -1.508,
+          -1.289,
+          0.651,
+          8.86
+        ],
+        [
+          -1.427,
+          -1.227,
+          0.651,
+          9.2
+        ],
+        [
+          -1.345,
+          -1.165,
+          0.651,
+          9.54
+        ],
+        [
+          -1.264,
+          -1.103,
+          0.652,
+          9.88
+        ],
+        [
+          -1.183,
+          -1.042,
+          0.652,
+          10.22
+        ],
+        [
+          -1.102,
+          -0.98,
+          0.652,
+          10.56
+        ],
+        [
+          -1.021,
+          -0.918,
+          0.653,
+          10.9
+        ],
+        [
+          -0.94,
+          -0.856,
+          0.653,
+          11.24
+        ],
+        [
+          -0.859,
+          -0.794,
+          0.653,
+          11.58
+        ],
+        [
+          -0.778,
+          -0.732,
+          0.654,
+          11.92
+        ],
+        [
+          -0.697,
+          -0.67,
+          0.654,
+          12.26
+        ],
+        [
+          -0.616,
+          -0.608,
+          0.654,
+          12.6
+        ],
+        [
+          -0.535,
+          -0.546,
+          0.654,
+          12.94
+        ],
+        [
+          -0.455,
+          -0.484,
+          0.653,
+          13.28
+        ],
+        [
+          -0.374,
+          -0.423,
+          0.653,
+          13.62
+        ],
+        [
+          -0.294,
+          -0.362,
+          0.653,
+          13.96
+        ],
+        [
+          -0.212,
+          -0.299,
+          0.653,
+          14.42
+        ],
+        [
+          -0.131,
+          -0.237,
+          0.652,
+          15.16
+        ],
+        [
+          -0.051,
+          -0.176,
+          0.631,
+          16.38
+        ],
+        [
+          0.054,
+          -0.167,
+          3.108,
+          29.9
+        ],
+        [
+          0.156,
+          -0.169,
+          3.124,
+          30.24
+        ],
+        [
+          0.258,
+          -0.168,
+          -3.093,
+          30.58
+        ],
+        [
+          0.36,
+          -0.159,
+          -3.001,
+          30.92
+        ],
+        [
+          0.46,
+          -0.14,
+          -2.904,
+          31.26
+        ],
+        [
+          0.558,
+          -0.109,
+          -2.773,
+          31.64
+        ],
+        [
+          0.65,
+          -0.067,
+          -2.644,
+          32.2
+        ],
+        [
+          0.735,
+          -0.014,
+          -2.511,
+          33.28
+        ],
+        [
+          0.802,
+          0.061,
+          -0.947,
+          36.48
+        ],
+        [
+          0.895,
+          0.102,
+          0.742,
+          38.94
+        ],
+        [
+          0.96,
+          0.18,
+          0.997,
+          39.28
+        ],
+        [
+          1.006,
+          0.271,
+          1.197,
+          39.62
+        ],
+        [
+          1.036,
+          0.368,
+          1.348,
+          39.96
+        ],
+        [
+          1.053,
+          0.467,
+          1.453,
+          40.4
+        ],
+        [
+          1.061,
+          0.568,
+          1.515,
+          40.74
+        ],
+        [
+          1.064,
+          0.67,
+          1.574,
+          41.08
+        ],
+        [
+          1.061,
+          0.772,
+          1.64,
+          41.42
+        ],
+        [
+          1.051,
+          0.873,
+          1.694,
+          41.76
+        ],
+        [
+          1.036,
+          0.974,
+          1.735,
+          42.1
+        ],
+        [
+          1.017,
+          1.077,
+          1.764,
+          42.46
+        ],
+        [
+          0.997,
+          1.175,
+          1.788,
+          42.92
+        ],
+        [
+          0.974,
+          1.274,
+          1.813,
+          43.7
+        ],
+        [
+          0.947,
+          1.371,
+          1.971,
+          45.98
+        ],
+        [
+          0.884,
+          1.454,
+          2.33,
+          46.64
+        ],
+        [
+          0.809,
+          1.523,
+          2.449,
+          46.98
+        ],
+        [
+          0.725,
+          1.587,
+          2.552,
+          47.34
+        ],
+        [
+          0.637,
+          1.638,
+          2.694,
+          47.68
+        ],
+        [
+          0.542,
+          1.675,
+          2.846,
+          48.02
+        ],
+        [
+          0.443,
+          1.698,
+          2.982,
+          48.36
+        ],
+        [
+          0.34,
+          1.708,
+          3.102,
+          48.74
+        ],
+        [
+          0.237,
+          1.706,
+          -3.065,
+          49.24
+        ],
+        [
+          0.136,
+          1.692,
+          -2.936,
+          49.92
+        ],
+        [
+          0.041,
+          1.661,
+          -2.718,
+          51.3
+        ],
+        [
+          0.141,
+          1.659,
+          0.014,
+          70.56
+        ],
+        [
+          0.241,
+          1.664,
+          0.061,
+          71.62
+        ]
+      ],
+      "stage_events": [
+        {
+          "event": "arrived_A",
+          "from": "S",
+          "t": 20.52,
+          "path_len_m": 3.797
+        },
+        {
+          "event": "left_A",
+          "t": 32.18
+        },
+        {
+          "event": "arrived_B",
+          "from": "A",
+          "t": 55.3,
+          "path_len_m": 7.167
+        },
+        {
+          "event": "walk_done",
+          "pose": [
+            0.105,
+            1.658,
+            0.025
+          ],
+          "goal": [
+            0.144,
+            1.659,
+            0.0
+          ]
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 1,
+          "pos_err": 0.0393,
+          "yaw_err": 0.0252,
+          "phase": "turn"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 51,
+          "pos_err": 0.0062,
+          "yaw_err": 0.0225,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 101,
+          "pos_err": 0.005,
+          "yaw_err": 0.0049,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_done",
+          "pose": [
+            0.1395,
+            1.6587,
+            0.002
+          ],
+          "timed_out": false
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:pre",
+          "mode": -1,
+          "pos": [
+            0.12,
+            1.1,
+            0.6396
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1395,
+            1.6587,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:down:0",
+          "mode": 4,
+          "pos": [
+            0.12,
+            1.1,
+            0.5196
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1395,
+            1.6587,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "settle_err",
+          "label": "take_item:down",
+          "k": 0,
+          "err_mm": [
+            1.8,
+            0.0,
+            -2.9
+          ],
+          "norm_mm": 3.4
+        },
+        {
+          "event": "grip_check",
+          "k": 0,
+          "q_left": 0.0306,
+          "q_right": 0.0317,
+          "asym": -0.0011,
+          "die_off_mm": -0.4
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:lift",
+          "mode": 4,
+          "pos": [
+            0.12,
+            1.1,
+            0.6396
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1395,
+            1.6587,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_delivery:over",
+          "mode": -1,
+          "pos": [
+            0.3077,
+            1.1504,
+            0.6364
+          ],
+          "quat": [
+            -0.6997,
+            0.0742,
+            -0.7068,
+            0.0734
+          ],
+          "base": [
+            0.1395,
+            1.6587,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_delivery:down",
+          "mode": 4,
+          "pos": [
+            0.3018,
+            1.15,
+            0.461
+          ],
+          "quat": [
+            -0.7009,
+            0.0752,
+            -0.7056,
+            0.0719
+          ],
+          "base": [
+            0.2907,
+            1.6656,
+            0.06,
+            0.0689
+          ]
+        }
+      ],
+      "transport_state": {
+        "light": "blue",
+        "on_delivery": {
+          "red": false,
+          "blue": true
+        },
+        "expected_deflection_m": {
+          "red": 0.0446,
+          "blue": 0.0149
+        }
+      },
+      "manipulation_success": true,
+      "mobile_success": true,
+      "full_success": true,
+      "failure_reason": "",
+      "station_transition_order": [
+        "S",
+        "A",
+        "B"
+      ],
+      "distance_to_first_interaction": 3.797,
+      "interstation_path_lengths": {
+        "A": [
+          3.797
+        ],
+        "B": [
+          3.37
+        ]
+      },
+      "final_approach_pose": [
+        0.291,
+        1.666,
+        0.069
+      ],
+      "cue_ledger": {
+        "read_s": 0.5,
+        "gap_s": 1.0,
+        "cues": {
+          "weight_red": {
+            "reads": 1,
+            "first_read_t": 23.240000000000002,
+            "first_read_end_t": 24.5,
+            "gap_open_t": 25.5,
+            "reobserved_t": [],
+            "visible_now": false
+          },
+          "weight_blue": {
+            "reads": 1,
+            "first_read_t": 27.240000000000002,
+            "first_read_end_t": 28.5,
+            "gap_open_t": 29.5,
+            "reobserved_t": [],
+            "visible_now": false
+          }
+        },
+        "decisions": [
+          {
+            "label": "pick_lighter",
+            "t": 55.78,
+            "class": "memory",
+            "per_cue": {
+              "weight_red": "memory",
+              "weight_blue": "memory"
+            },
+            "readings_m": {
+              "red": 0.05798648610711098,
+              "blue": 0.038800615817308426
+            },
+            "lighter": "blue"
+          }
+        ],
+        "protocol_valid": true
+      },
+      "public": {
+        "demo_running": false,
+        "demo_done": true
+      },
+      "truth": {
+        "light": "blue",
+        "heavy": "red",
+        "red_pad": 0,
+        "order": [
+          0,
+          1
+        ]
+      },
+      "episode_time_s": 77.04,
+      "extra": {
+        "item_pos": {
+          "red": [
+            -0.12,
+            1.1,
+            0.4959
+          ],
+          "blue": [
+            0.3041,
+            1.1497,
+            0.4389
+          ]
+        },
+        "demo_start_t": 20.52,
+        "weigh_events": [
+          {
+            "pad": 0,
+            "event": "freed",
+            "t": 21.52
+          },
+          {
+            "pad": 0,
+            "event": "locked",
+            "t": 24.52,
+            "deflection_m": 0.058
+          },
+          {
+            "pad": 1,
+            "event": "freed",
+            "t": 25.52
+          },
+          {
+            "pad": 1,
+            "event": "locked",
+            "t": 28.52,
+            "deflection_m": 0.0388
+          }
+        ],
+        "cue_diag": {
+          "weight_red": {
+            "active_ticks": 89,
+            "visible_ticks": 89
+          },
+          "weight_blue": {
+            "active_ticks": 89,
+            "visible_ticks": 89
+          }
+        },
+        "demo_done_t": 29.52,
+        "transport_state": {
+          "light": "blue",
+          "on_delivery": {
+            "red": false,
+            "blue": true
+          },
+          "expected_deflection_m": {
+            "red": 0.0446,
+            "blue": 0.0149
+          }
+        },
+        "first_pick": {
+          "color": "blue",
+          "correct": true,
+          "t": 68.94
+        }
+      },
+      "env_terminated": true,
+      "env_truncated": false,
+      "control_ticks": 3852,
+      "diagnostics": {
+        "atomic_skill_info": null,
+        "global_planner_info": {},
+        "nav_reports": {
+          "0": {
+            "success": true,
+            "native_path": [
+              [
+                0.03483480215072632,
+                1.6586978435516357,
+                0.030429303646087646
+              ],
+              [
+                0.0732308104634285,
+                1.6633048057556152,
+                0.030429303646087646
+              ],
+              [
+                0.13565951585769653,
+                1.670795202255249,
+                0.030429303646087646
+              ],
+              [
+                0.1444993019104004,
+                1.6586978435516357,
+                0.030429303646087646
+              ]
+            ],
+            "validated_points": 4,
+            "repaired": false,
+            "clearance_radius_m": 0.26,
+            "window_m": 20.0,
+            "window": "path",
+            "scan_s": 5.28
+          }
+        }
+      }
+    }
+  ],
+  "success": true,
+  "planner_seeds": "default",
+  "dr": {
+    "seed": 5005,
+    "spawn_jitter": 0.3,
+    "start": [
+      -3.0443,
+      -2.4657,
+      -0.1927
+    ],
+    "nominal_start": [
+      -3.3,
+      -2.3,
+      0.0
+    ]
+  },
+  "collect": {
+    "task": "N052",
+    "robot": "stretch3",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N052",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/base_link",
+        "pos": [
+          0.049771,
+          -0.002942,
+          1.295723
+        ],
+        "ori": [
+          0.0002,
+          -55.623,
+          -90.0
+        ],
+        "focal_length": 2.73834228515625,
+        "horizontal_aperture": 2.1600000858306885,
+        "vertical_aperture": 1.62
+      },
+      "wrist": {
+        "link": "Robot_0/link_gripper_s3_body",
+        "pos": [
+          0.009,
+          0.062939,
+          0.056398
+        ],
+        "ori": [
+          -170.0021,
+          0.0,
+          -179.9998
+        ],
+        "focal_length": 1.280753493309021,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.44
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "output_dir": "/mnt/scratch/sz850_atomic/n052_str_off_5005/out/rec/memorystage/000",
+  "steps": 3852,
+  "elapsed_s": 1493.719,
+  "episodes_run": 1,
+  "episodes_full_success": 1
+}