add N053/sawyer_umi/dr_on/seed_2050

N053/sawyer_umi/dr_on/seed_2050/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', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1481 rows vs ceil(2962/2) = 1481"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..3021, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "22.47 MB, 1481 frames at 25 fps, mean luma 94..160, std 35, new picture 1480x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1481 vs 1481"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.60 MB, 1481 frames at 25 fps, mean luma 69..111, std 31, new picture 1480x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1481 vs 1481"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n053_saw_on_2050/out/rec  task=N053  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n053_saw_on_2050/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1481  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1481 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+rows 1481 at dataset fps 25 = 59.24 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1481 rows vs ceil(2962/2) = 1481
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3021, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 22.47 MB, 1481 frames at 25 fps, mean luma 94..160, std 35, new picture 1480x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1481 vs 1481
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.60 MB, 1481 frames at 25 fps, mean luma 69..111, std 31, new picture 1480x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1481 vs 1481
+parquet size 1.69 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 53.93 MB; whole cell dir 54.9 MB
+RESULT: ALL PASS

N053/sawyer_umi/dr_on/seed_2050/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}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0121680c4a5240e057eb8effa9fefc0c0348509ffddc0b7719eab7b7ca56c129
+size 1691155

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 1481, "magicsim/control_steps": 2962, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the rack. There are a large white st wall, 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 rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is to the left of the rack. The gray st table a is behind the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is in front of the rack. The white st booth r is in front of the rack. The rack is in front of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from left, at table height."}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.009582070085414352, -0.06277177203886819, -0.02558880726002524, 0.06091673531840574, 0.5411223156212915, 0.6411260025151914, 0.23745188841459158, 0.137813739672273, -0.035070722234724024, -0.24394550691701467, 0.11141120864280891], "std": [0.13757111837645278, 0.13398954379956618, 0.21987454431516043, 0.8732981507137156, 1.3137313949482683, 0.07743005457977355, 0.5696897675420121, 0.29958962299970876, 0.3743425583674159, 0.5562839334309347, 0.314640670021466], "min": [-0.30000001192092896, -0.30000001192092896, -0.800000011920929, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, -0.5162549018859863, -0.5006415843963623, -0.5816075801849365, -0.9120306968688965, 0.0], "max": [0.30000001192092896, 0.30000001192092896, 0.800000011920929, 1.3342223167419434, 2.2675464153289795, 0.7959350347518921, 0.9290652275085449, 0.5452609658241272, 0.5008825063705444, 0.6320858597755432, 1.0], "count": [1481]}, "action_is_hold": {"mean": [0.1012829169480081, 0.1012829169480081, 0.1012829169480081, 0.1262660364618501, 0.1262660364618501, 0.1262660364618501, 0.1262660364618501, 0.1262660364618501, 0.1262660364618501, 0.1262660364618501, 0.9797434166103984], "std": [0.30170297924037043, 0.30170297924037043, 0.30170297924037043, 0.33214894926532756, 0.33214894926532756, 0.33214894926532756, 0.33214894926532756, 0.33214894926532756, 0.33214894926532756, 0.33214894926532756, 0.14087673412945748], "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": [1481]}, "observation.state": {"mean": [-0.1017087993390008, 0.9658134901225768, -0.5936710545623387, 2.169320955404791, -2.1720268997557275, -0.9451350812007252, -0.39018307471418867, 1.8931406620464801, 0.18825233981203535, 1.3086796421846933, -0.016288235056355387, 0.008549804068505107, -0.008649032217201964, -0.008649032217201964, -0.008549804068505107], "std": [0.8702399787215499, 1.4491474239859092, 1.3538905978723028, 1.1335646193425477, 1.132368846325634, 0.13880427600700368, 0.5116141417800351, 0.25269451166628454, 0.24411044894540118, 0.12644952321985733, 0.3327485041776696, 0.009676547761577767, 0.00973344102591524, 0.00973344102591524, 0.009676547761577767], "min": [-3.0799999237060547, -2.1059000492095947, -1.5711358785629272, -0.023537389934062958, -3.0097482204437256, -1.2365440130233765, -1.3774092197418213, 1.2908114194869995, -0.0007138766814023256, 0.9865093231201172, -0.6446585655212402, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [1.3228750228881836, 2.236499071121216, 1.5697954893112183, 3.0099968910217285, 0.023301243782043457, -0.5912265181541443, 0.003160829422995448, 2.266618013381958, 0.7510110139846802, 1.4082149267196655, 0.8884187340736389, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1481]}, "observation.joint_vel": {"mean": [0.05061495072714539, 0.07282240930518502, -0.02597785274721107, -0.044670507427625884, 0.036789711705553216, 0.0037295993362033942, -0.009199663654327601, -0.00954735765326362, 0.0075886141604245465, -0.005900986546254551, -0.0013535688389136027, 5.678958735956701e-06, 0.000177662795694077], "std": [0.15218555613005744, 0.10493211208831314, 0.2201979161328554, 0.08496326900556636, 0.06993511257930424, 0.04717246928191456, 0.08567065773051612, 0.05159031161293741, 0.05556526197600999, 0.04140153232272112, 0.10842755510027703, 0.007508242482223249, 0.007339459962955862], "min": [-0.3092213273048401, -0.050728559494018555, -0.8001269102096558, -0.23672789335250854, -0.16170650720596313, -0.12715500593185425, -0.18927110731601715, -0.18728330731391907, -0.3212258815765381, -0.1681988686323166, -0.32895809412002563, -0.09978620707988739, -0.1000659316778183], "max": [0.4190046191215515, 0.39493945240974426, 0.8001014590263367, 0.20086321234703064, 0.14187531173229218, 0.13189458847045898, 0.20612671971321106, 0.12438793480396271, 0.2093699872493744, 0.24539747834205627, 0.42065659165382385, 0.10000479221343994, 0.09999857097864151], "count": [1481]}, "observation.eef_pose": {"mean": [0.059076074984334634, 0.562262413124972, 0.6431558588161249, 0.24738982377685784, 0.14560895105779856, -0.04168656797404228, -0.2403108181883402], "std": [0.8728305128563465, 1.3324701155136593, 0.08005305207688716, 0.5620978831767327, 0.3032675582019218, 0.38206689795781273, 0.5515512612588991], "min": [-3.2442498207092285, -2.2184343338012695, 0.581926703453064, -0.5011188983917236, -0.298202246427536, -0.6091444492340088, -0.8849727511405945], "max": [1.3350749015808105, 2.2677924633026123, 0.7937256693840027, 0.9289647340774536, 0.5495461225509644, 0.3702154755592346, 0.6329124569892883], "count": [1481]}, "observation.environment_state": {"mean": [0.0022293545816208606, 3.844839472432406e-21, 4.9950285437158424e-08, 5.142382887949084e-19, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.27000001072883606, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, -0.24000080894731654, 1.149999976158142, 0.4298276901245117, 0.9999983906745911, -3.000809245214599e-07, -0.0018024286586957293, -6.374006320901191e-07, 0.018884641268877924, 1.1494962850347876, 0.43713494855596113, 0.9999191470036709, -0.0003913518866311406, -0.004345806113052497, 0.0004826831045982376, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -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, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 2.0015149319578965e-07, 1.2349997758865356, 0.43199917674064636, 1.0, -1.9057931532249174e-06, 1.917412499233159e-05, -2.245876439204105e-06, -0.23980160925856803, 1.234964388113904, 0.4319999685849313, 0.9999998211860657, -9.544218629564424e-06, -9.431868109153347e-06, 0.0005573679336644131], "std": [0.008781119733076945, 5.21852685656594e-22, 0.008006700298166256, 2.8888511773776796e-18, 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, 7.935498439263497e-09, 0.0, 0.0, 0.0, 3.3904727520334675e-07, 4.241392143033481e-07, 1.890999937153397e-07, 0.06685979070894645, 0.0024502345637230556, 0.02518917422584939, 0.0003587887874811016, 0.0022289630181262237, 0.008773891582911515, 0.007770126937953175, 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, 6.823730914318268e-10, 0.0, 0.0, 0.0, 1.2562146365595517e-07, 6.292986331669653e-08, 9.142744379538462e-09, 7.347924573444183e-09, 4.207529596272933e-08, 1.4916585229774483e-08, 0.0, 2.0785911828430493e-07, 1.8152749397852652e-07, 2.074214464323584e-07], "min": [3.4383042513570205e-21, 0.0, -0.06224890425801277, 0.0, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.27000001072883606, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, -0.24000082910060883, 1.149999976158142, 0.4298276901245117, 0.9999983906745911, -1.1367993693056633e-06, -0.0018033921951428056, -1.197600909108587e-06, -8.216593414545059e-07, 1.129610538482666, 0.4298154413700104, 0.9968633055686951, -0.02281777933239937, -0.0541408397257328, -0.02020115777850151, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -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, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 1.9843818677145464e-07, 1.2349997758865356, 0.43199917674064636, 1.0, -2.202007635787595e-06, 1.8995182472281158e-05, -2.267951458634343e-06, -0.23980161547660828, 1.234964370727539, 0.43199992179870605, 0.9999998211860657, -1.0233119610347785e-05, -1.0361680324422196e-05, 0.0005565430619753897], "max": [0.039998263120651245, 5.807384664729054e-21, 0.06236992031335831, 1.9081951618299978e-17, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.27000001072883606, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, -0.24000078439712524, 1.149999976158142, 0.4298276901245117, 0.9999983906745911, 3.1995071481105697e-07, -0.001801936305128038, -8.472125756497917e-08, 0.2760388255119324, 1.1525235176086426, 0.5476652383804321, 0.9999983906745911, 0.010349923744797707, 0.013897511176764965, 0.05680998042225838, 0.0, 0.44999998807907104, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -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, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 2.020948102199327e-07, 1.2349997758865356, 0.43199917674064636, 1.0, -1.548083218949614e-06, 1.9379580407985486e-05, -2.2194976736500394e-06, -0.23980160057544708, 1.2349644899368286, 0.43199998140335083, 0.9999998211860657, -8.757724572205916e-06, -8.871140380506404e-06, 0.0005578760174103081], "count": [1481]}, "action.command": {"mean": [-1.22809946614763, -1.178292643505594, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 0.5996908809891809, 0.060464012586271286, 0.6241426991595321, 0.6455824448852303, 0.22028756602285818, 0.16359394723966925, -0.04484885101893217, -0.312646334188367, 0.3333333333333333, -1.0568109167658764, -1.1275979886884275, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.9226739321065985, -1.0795548397561778, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.7736234618269879, -1.0573241202727608, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.7291357019673224, -1.045505286299664, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.5234773962394051, -0.9942665670229041, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.45571531575659047, -0.9673283100128174, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.39665264979652737, -0.9472064121909763, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.21002355140188467, -0.9062025707700978, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.09992910468060037, -0.8843280571958293, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, -0.0423891834590746, -0.7928375042003134, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.06180721573207689, -0.6440724845813668, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.15116607313570768, -0.5689480740091075, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.19525502868320632, -0.4762638033732124, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.219720603072125, -0.4295342606046925, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.3588448317154594, -0.23331267807794653, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.44227144096208654, -0.1719174571659254, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.49065461988034453, -0.07611716052760249, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.5210288151450779, -0.03799345130505769, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.6189750505530316, 0.06539165507192198, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.6374276928279711, 0.15742311322170754, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.6372789424398672, 0.2874719402064448, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.6964361087135646, 0.3332497026609338, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.7165284758028777, 0.35160263310308043, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.7245776953904525, 0.37661887666453486, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.7377921617549399, 0.561113895540652, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 0.7392641108968984, 0.6946873364241227, -0.3687956695971282, 0.0, 0.0, 0.0, 0.0, 2.0, -0.06647882494481577, -0.12028245209459809, 0.5827743951825128, 0.7213168247886326, -0.03816129481554895, 0.28511140819477, -0.039279941924294265, 0.0, 1.170562982559204, 1.5302207469940186, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 1.1551445722579956, 1.5670928955078125, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 1.127187728881836, 1.6339495182037354, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 1.0492475032806396, 1.8203380107879639, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.9778299927711487, 1.9171967506408691, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.7321357131004333, 1.9852919578552246, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.6737260222434998, 2.0014805793762207, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.640068531036377, 2.0108089447021484, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.4399348497390747, 2.066276788711548, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.3606455624103546, 2.088252067565918, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.20276711881160736, 2.1320085525512695, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.0631614476442337, 2.1322922706604004, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0, 0.0, 2.049999952316284, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7632699092946282, 0.7357029584564374, 0.5828210382674222, 0.7174477899018588, 0.10331424320457687, 0.3103329946807293, -0.40014096495953383, 0.0], "std": [1.4578567727590959, 0.7302261017125328, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 1.4966835765276676, 0.933461745579266, 1.3277191093249394, 0.07984638196168141, 0.5740390560650863, 0.28000696838455524, 0.38074893342216126, 0.5215905346120209, 0.4714045207910316, 1.426302094954642, 0.6883531729476079, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.3552431619729604, 0.6393514245923801, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4493361962943405, 0.6454286591373422, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4486275206755093, 0.6371718335278729, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4642228165908093, 0.6056026131423772, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.41350431943746, 0.5756643055635596, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.3879501365420184, 0.5560936415761485, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4326196152340194, 0.5381192141612866, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4474958065878465, 0.5200545619083095, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.437563513411359, 0.5649338796161596, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.4026802068223507, 0.6245863376887975, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.3203497306188492, 0.6086885951958274, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.3353025747008154, 0.6719424713252083, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.3389016027915317, 0.7010319860959648, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.2899157585737657, 0.7775984002099661, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.2043160985584878, 0.7515812736556622, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.2148186231408187, 0.8134394168762915, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.1994113089158485, 0.8241269393126093, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.130193316057096, 0.8335987367347997, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 1.0475435403943498, 0.8582876650259723, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.9548654094060777, 0.9151729118149371, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.8677977598429305, 0.8855298591888084, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.8362240781875471, 0.8766859420496136, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.8109687134668497, 0.8808524784333984, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.6671450128834995, 0.9502915648752471, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.5819648932958523, 0.979845131380028, 1.5268893187399253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2591205163729016, 1.4196105960720524, 5.925024803520272e-05, 0.09560793511681802, 0.227690981151936, 0.04766706584563304, 0.5763314723414039, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41267794929275115, 1.0958641077445745, 3.8459874071317006e-08, 0.10375640658661132, 0.17048191718477793, 0.028102788120762435, 0.421373924810195, 0.0], "min": [-3.080000162124634, -2.105891466140747, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, -1.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, -0.5162549018859863, -0.5006415843963623, -0.5816075801849365, -0.9120306968688965, 0.0, -2.8686280250549316, -2.0020060539245605, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.644225597381592, -1.891716480255127, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.6147005558013916, -1.8772056102752686, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.569312572479248, -1.85489821434021, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.383464813232422, -1.7635574340820312, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.2512755393981934, -1.6985888481140137, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.1597516536712646, -1.6536065340042114, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -2.0298657417297363, -1.589769959449768, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.9386683702468872, -1.5449481010437012, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.8685115575790405, -1.510467290878296, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.7200032472610474, -1.4374781847000122, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.5260608196258545, -1.3421590328216553, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.5009663105010986, -1.329825520515442, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.4810725450515747, -1.3200480937957764, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.2797220945358276, -1.2210880517959595, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.0875591039657593, -1.1266435384750366, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.0525171756744385, -1.1094210147857666, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -1.0025712251663208, -1.0848735570907593, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.8166980743408203, -0.9935203790664673, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.6932562589645386, -0.9328510165214539, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.5756769180297852, -0.8750629425048828, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.40591859817504883, -0.7916299104690552, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.34571850299835205, -0.7620426416397095, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.30558764934539795, -0.7423191070556641, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, -0.10967539250850677, -0.6460318565368652, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, 0.0, -0.550000011920929, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2442498207092285, -2.21805739402771, 0.5826990604400635, 0.6326357126235962, -0.29780203104019165, 0.2194763720035553, -0.6803951263427734, 0.0, 1.170562982559204, 1.5302207469940186, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 1.1551445722579956, 1.5670928955078125, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 1.127187728881836, 1.6339495182037354, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 1.0492475032806396, 1.8203380107879639, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.9778299927711487, 1.9171967506408691, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.7321357131004333, 1.9852919578552246, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.6737260222434998, 2.0014805793762207, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.640068531036377, 2.0108089447021484, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.4399348497390747, 2.066276788711548, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.3606455624103546, 2.088252067565918, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.20276711881160736, 2.1320085525512695, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.0631614476442337, 2.1322922706604004, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0, 0.0, 2.049999952316284, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.008695006370544434, -0.7637625932693481, 0.5828209519386292, 0.6326357126235962, -0.2977656126022339, 0.2194763720035553, -0.6803951263427734, 0.0], "max": [-0.08044269680976868, -0.6034426689147949, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.7959350347518921, 0.9290652275085449, 0.5452609658241272, 0.5008825063705444, 0.6320858597755432, 1.0, 0.06600531935691833, -0.5857113003730774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.14420315623283386, -0.5762434005737305, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.36732572317123413, -0.5492285490036011, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.4112555980682373, -0.5439096689224243, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.6291908621788025, -0.517522931098938, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.6570262312889099, -0.5141527652740479, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.6959720849990845, -0.5094373226165771, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.9177659749984741, -0.48258334398269653, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.0395712852478027, -0.47492972016334534, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.089292287826538, -0.3481091856956482, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.1660277843475342, -0.1523844450712204, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.190574288368225, -0.08977508544921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.2464344501495361, 0.05270402133464813, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.2737332582473755, 0.12233346700668335, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.3742947578430176, 0.37882980704307556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.3903354406356812, 0.41974377632141113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.446986436843872, 0.5642401576042175, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.4652316570281982, 0.6107773184776306, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.508687973022461, 0.7216188311576843, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.4620769023895264, 0.8330859541893005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.388969898223877, 1.0079160928726196, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.3795855045318604, 1.0303581953048706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.3748223781585693, 1.0417490005493164, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.3629900217056274, 1.0700452327728271, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.2629833221435547, 1.3092042207717896, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.197399616241455, 1.4660428762435913, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.170562982559204, 1.5302207469940186, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.1551445722579956, 1.5670928955078125, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.127187728881836, 1.6339495182037354, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 1.0492475032806396, 1.8203380107879639, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.9778299927711487, 1.9171967506408691, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.7321357131004333, 1.9852919578552246, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.6737260222434998, 2.0014805793762207, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.640068531036377, 2.0108089447021484, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.4399348497390747, 2.066276788711548, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.3606455624103546, 2.088252067565918, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.20276711881160736, 2.1320085525512695, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.0631614476442337, 2.1322922706604004, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0, 0.0, 2.049999952316284, -1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3342223167419434, 2.2675464153289795, 0.5828211307525635, 0.9290652275085449, 0.21923573315143585, 0.3699098229408264, 0.6320858597755432, 0.0], "count": [1481]}, "action.applied": {"mean": [0.009582070085414352, -0.06277177203886819, -0.02558880726002524, 2.166274588666561, -0.9448769691825959, -0.390799419179256, 1.8925198215958559, 0.18870883603233637, 1.3083272057155915, -0.016651070890679392, 0.00596151202489483, -0.00596151202489483], "std": [0.13757111837645278, 0.13398954379956618, 0.21987454431516043, 1.1348464808175405, 0.13881982134893123, 0.5113956476031972, 0.253152665312347, 0.24417822541352208, 0.12673686738013834, 0.3324573557266943, 0.011090896048638006, 0.011090896048638006], "min": [-0.30000001192092896, -0.30000001192092896, -0.800000011920929, -0.02368452586233616, -1.237027645111084, -1.3778122663497925, 1.2897065877914429, -0.0007165524293668568, 0.9846466183662415, -0.6461150050163269, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.30000001192092896, 0.800000011920929, 3.0057661533355713, -0.5911055207252502, 0.001737847924232483, 2.2669928073883057, 0.7514255046844482, 1.4085206985473633, 0.8900251984596252, 0.020833000540733337, 0.009999999776482582], "count": [1481]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1481]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1481]}, "sim_step_idx": {"mean": [1541.0], "std": [855.055553750749], "min": [61.0], "max": [3021.0], "count": [1481]}, "timestamp": {"mean": [29.600000001535392], "std": [17.101111074211236], "min": [0.0], "max": [59.20000076293945], "count": [1481]}, "frame_index": {"mean": [740.0], "std": [427.5277768753745], "min": [0.0], "max": [1480.0], "count": [1481]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1481]}, "index": {"mean": [740.0], "std": [427.5277768753745], "min": [0.0], "max": [1480.0], "count": [1481]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1481]}, "next.done": {"mean": [0.0006752194463200541], "std": [0.02597621075175063], "min": [0.0], "max": [1.0], "count": [1481]}, "observation.images.head": {"mean": [[[0.5213288818802355]], [[0.4530813104560844]], [[0.37620758131423204]]], "std": [[[0.1481888735198898]], [[0.1610380105576773]], [[0.17549081673256398]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[0.9882352941176471]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.4224208413823434]], [[0.3405504374773355]], [[0.2803384063717758]]], "std": [[[0.14515397313545828]], [[0.13988890761752062]], [[0.1409142898269461]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9490196078431372]], [[0.9254901960784314]]], "count": [100]}}}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,547 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MemoryStage",
+ "subsample_every": 2,
+ "control_steps": 2962,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "st_wall_1",
+     "cat_name": "st_wall",
+     "inst_id": 1,
+     "noun": "st wall",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      0.7699999976158142,
+      2.9762445275056257,
+      -2.9634264838618902
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       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": [
+      0.16999999761581422,
+      2.676483212997789,
+      -2.97539119549793
+     ],
+     "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": [
+      0.16999999761581422,
+      3.2760058420134626,
+      -2.9514617722258505
+     ],
+     "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": [
+      0.6699999976158142,
+      2.6577384981013266,
+      -2.505765136102319
+     ],
+     "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": [
+      0.6699999976158142,
+      2.6952279278942513,
+      -3.4450172548935414
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       -1.7763568394002505e-15,
+       0.0,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "rack_1",
+     "cat_name": "rack",
+     "inst_id": 1,
+     "noun": "rack",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      0.3700000047683716,
+      2.676483201086344,
+      -2.9753911959733648
+     ],
+     "bbox": {
+      "extent": [
+       0.4000000059604645,
+       0.2199999988079071,
+       0.06999999921768907
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.03499999972060325
+      ]
+     }
+    },
+    {
+     "id": "pen_s0_1",
+     "cat_name": "pen_s0",
+     "inst_id": 1,
+     "noun": "pen s0",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.3698276877403259,
+      3.3663544551731093,
+      -2.707663685696087
+     ],
+     "bbox": {
+      "extent": [
+       0.1048043700725903,
+       0.026247318314278054,
+       0.018020434292516152
+      ],
+      "center": [
+       0.0009413454681634938,
+       2.2811613709095013e-16,
+       0.008384543529245975
+      ]
+     }
+    },
+    {
+     "id": "pen_s1_1",
+     "cat_name": "pen_s1",
+     "inst_id": 1,
+     "noun": "pen s1",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.3698277175426483,
+      3.375926224040492,
+      -2.9474727262423945
+     ],
+     "bbox": {
+      "extent": [
+       0.10480433455841895,
+       0.026247181561807064,
+       0.018020490466119476
+      ],
+      "center": [
+       0.0009413454681634938,
+       2.255140518769849e-16,
+       0.00838454352924603
+      ]
+     }
+    },
+    {
+     "id": "pad_1",
+     "cat_name": "pad",
+     "inst_id": 1,
+     "noun": "pad",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      0.3729999976158142,
+      3.3866945206551775,
+      -3.217258718070891
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "tag_red_1",
+     "cat_name": "tag_red",
+     "inst_id": 1,
+     "noun": "tag red",
+     "color": "red",
+     "size": "large",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.37199994921684265,
+      3.4512591944380224,
+      -2.704474129442292
+     ],
+     "bbox": {
+      "extent": [
+       1.0009837831082296,
+       1.005072592923303,
+       1.0006928503964758
+      ],
+      "center": [
+       -1.8318679906315083e-15,
+       5.384581669432009e-15,
+       7.105427357601002e-15
+      ]
+     }
+    },
+    {
+     "id": "tag_blue_1",
+     "cat_name": "tag_blue",
+     "inst_id": 1,
+     "noun": "tag blue",
+     "color": "blue",
+     "size": "large",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.37199917435646057,
+      3.4608584366572925,
+      -2.944083741895715
+     ],
+     "bbox": {
+      "extent": [
+       1.0000100686571036,
+       1.000021840069828,
+       1.0010061205706222
+      ],
+      "center": [
+       0.0,
+       9.325873406851315e-15,
+       0.0
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "st_wall_1",
+     "relation": "left_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_table_a_1",
+     "relation": "behind",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_table_b_1",
+     "relation": "right_of",
+     "object": "pen_s1_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "on_top_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "in_front_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "in_front_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "rack_1",
+     "relation": "in_front_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "pen_s0_1",
+     "relation": "right_of",
+     "object": "tag_red_1"
+    },
+    {
+     "subject": "pen_s1_1",
+     "relation": "right_of",
+     "object": "tag_blue_1"
+    },
+    {
+     "subject": "tag_red_1",
+     "relation": "left_of",
+     "object": "pen_s0_1"
+    },
+    {
+     "subject": "tag_blue_1",
+     "relation": "left_of",
+     "object": "pen_s1_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      -0.10500000417232513,
+      2.235479763071485,
+      -3.209765932884272
+     ],
+     "viewpoint": "left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      -0.030000003054738045,
+      2.2292262070488804,
+      -3.053090683976657
+     ],
+     "viewpoint": "left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.08,
+       -2.1059,
+       0.06
+      ],
+      "ori": [
+       0.9997949600219727,
+       0.0,
+       0.0,
+       -0.020248616114258766
+      ]
+     },
+     "facing_yaw_deg": -2.320479039169899,
+     "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 Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the rack. There are a large white st wall, 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 rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is to the left of the rack. The gray st table a is behind the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is in front of the rack. The white st booth r is in front of the rack. The rack is in front of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n    [st wall]\n       [st booth r]\n\n\n[tag blue]ck]\n\n  [st table b]le a]\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 1.5707963267948966.",
+   "task_id": "N053",
+   "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
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,335 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1481,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                88
+            ],
+            "names": [
+                "articulation_joint_pos.rack.0",
+                "articulation_joint_pos.rack.1",
+                "articulation_joint_vel.rack.0",
+                "articulation_joint_vel.rack.1",
+                "articulation_pose.rack.0",
+                "articulation_pose.rack.1",
+                "articulation_pose.rack.2",
+                "articulation_pose.rack.3",
+                "articulation_pose.rack.4",
+                "articulation_pose.rack.5",
+                "articulation_pose.rack.6",
+                "object_pose.pad.0",
+                "object_pose.pad.1",
+                "object_pose.pad.2",
+                "object_pose.pad.3",
+                "object_pose.pad.4",
+                "object_pose.pad.5",
+                "object_pose.pad.6",
+                "object_pose.pen_s0.0",
+                "object_pose.pen_s0.1",
+                "object_pose.pen_s0.2",
+                "object_pose.pen_s0.3",
+                "object_pose.pen_s0.4",
+                "object_pose.pen_s0.5",
+                "object_pose.pen_s0.6",
+                "object_pose.pen_s1.0",
+                "object_pose.pen_s1.1",
+                "object_pose.pen_s1.2",
+                "object_pose.pen_s1.3",
+                "object_pose.pen_s1.4",
+                "object_pose.pen_s1.5",
+                "object_pose.pen_s1.6",
+                "object_pose.rack.0",
+                "object_pose.rack.1",
+                "object_pose.rack.2",
+                "object_pose.rack.3",
+                "object_pose.rack.4",
+                "object_pose.rack.5",
+                "object_pose.rack.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.0",
+                "object_pose.st_wall.1",
+                "object_pose.st_wall.2",
+                "object_pose.st_wall.3",
+                "object_pose.st_wall.4",
+                "object_pose.st_wall.5",
+                "object_pose.st_wall.6",
+                "object_pose.tag_blue.0",
+                "object_pose.tag_blue.1",
+                "object_pose.tag_blue.2",
+                "object_pose.tag_blue.3",
+                "object_pose.tag_blue.4",
+                "object_pose.tag_blue.5",
+                "object_pose.tag_blue.6",
+                "object_pose.tag_red.0",
+                "object_pose.tag_red.1",
+                "object_pose.tag_red.2",
+                "object_pose.tag_red.3",
+                "object_pose.tag_red.4",
+                "object_pose.tag_red.5",
+                "object_pose.tag_red.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                640
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 05:09:59"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/stats.json

@@ -0,0 +1,3593 @@
+{
+    "action": {
+        "mean": [
+            0.009582070085414352,
+            -0.06277177203886819,
+            -0.02558880726002524,
+            0.06091673531840574,
+            0.5411223156212915,
+            0.6411260025151914,
+            0.23745188841459158,
+            0.137813739672273,
+            -0.035070722234724024,
+            -0.24394550691701467,
+            0.11141120864280891
+        ],
+        "std": [
+            0.13757111837645278,
+            0.13398954379956618,
+            0.21987454431516043,
+            0.8732981507137156,
+            1.3137313949482683,
+            0.07743005457977355,
+            0.5696897675420121,
+            0.29958962299970876,
+            0.3743425583674159,
+            0.5562839334309347,
+            0.314640670021466
+        ],
+        "min": [
+            -0.30000001192092896,
+            -0.30000001192092896,
+            -0.800000011920929,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            -0.5162549018859863,
+            -0.5006415843963623,
+            -0.5816075801849365,
+            -0.9120306968688965,
+            0.0
+        ],
+        "max": [
+            0.30000001192092896,
+            0.30000001192092896,
+            0.800000011920929,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.7959350347518921,
+            0.9290652275085449,
+            0.5452609658241272,
+            0.5008825063705444,
+            0.6320858597755432,
+            1.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "action_is_hold": {
+        "mean": [
+            0.1012829169480081,
+            0.1012829169480081,
+            0.1012829169480081,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.1262660364618501,
+            0.9797434166103984
+        ],
+        "std": [
+            0.30170297924037043,
+            0.30170297924037043,
+            0.30170297924037043,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.33214894926532756,
+            0.14087673412945748
+        ],
+        "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": [
+            1481
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            -0.1017087993390008,
+            0.9658134901225768,
+            -0.5936710545623387,
+            2.169320955404791,
+            -2.1720268997557275,
+            -0.9451350812007252,
+            -0.39018307471418867,
+            1.8931406620464801,
+            0.18825233981203535,
+            1.3086796421846933,
+            -0.016288235056355387,
+            0.008549804068505107,
+            -0.008649032217201964,
+            -0.008649032217201964,
+            -0.008549804068505107
+        ],
+        "std": [
+            0.8702399787215499,
+            1.4491474239859092,
+            1.3538905978723028,
+            1.1335646193425477,
+            1.132368846325634,
+            0.13880427600700368,
+            0.5116141417800351,
+            0.25269451166628454,
+            0.24411044894540118,
+            0.12644952321985733,
+            0.33274850417766955,
+            0.009676547761577767,
+            0.00973344102591524,
+            0.00973344102591524,
+            0.009676547761577767
+        ],
+        "min": [
+            -3.0799999237060547,
+            -2.1059000492095947,
+            -1.5711358785629272,
+            -0.023537389934062958,
+            -3.0097482204437256,
+            -1.2365440130233765,
+            -1.3774092197418213,
+            1.2908114194869995,
+            -0.0007138766814023256,
+            0.9865093231201172,
+            -0.6446585655212402,
+            0.0,
+            -0.020833000540733337,
+            -0.020833000540733337,
+            -0.020833000540733337
+        ],
+        "max": [
+            1.3228750228881836,
+            2.236499071121216,
+            1.5697954893112183,
+            3.0099968910217285,
+            0.023301243782043457,
+            -0.5912265181541443,
+            0.003160829422995448,
+            2.266618013381958,
+            0.7510110139846802,
+            1.4082149267196655,
+            0.8884187340736389,
+            0.020833000540733337,
+            0.0,
+            0.0,
+            -0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "observation.joint_vel": {
+        "mean": [
+            0.05061495072714539,
+            0.07282240930518502,
+            -0.02597785274721107,
+            -0.044670507427625884,
+            0.036789711705553216,
+            0.0037295993362033942,
+            -0.009199663654327601,
+            -0.00954735765326362,
+            0.0075886141604245465,
+            -0.005900986546254551,
+            -0.0013535688389136027,
+            5.678958735956701e-06,
+            0.000177662795694077
+        ],
+        "std": [
+            0.15218555613005744,
+            0.10493211208831314,
+            0.2201979161328554,
+            0.08496326900556636,
+            0.06993511257930424,
+            0.04717246928191456,
+            0.08567065773051612,
+            0.05159031161293741,
+            0.05556526197600999,
+            0.04140153232272112,
+            0.10842755510027703,
+            0.007508242482223249,
+            0.007339459962955862
+        ],
+        "min": [
+            -0.3092213273048401,
+            -0.050728559494018555,
+            -0.8001269102096558,
+            -0.23672789335250854,
+            -0.16170650720596313,
+            -0.12715500593185425,
+            -0.18927110731601715,
+            -0.18728330731391907,
+            -0.3212258815765381,
+            -0.1681988686323166,
+            -0.32895809412002563,
+            -0.09978620707988739,
+            -0.1000659316778183
+        ],
+        "max": [
+            0.4190046191215515,
+            0.39493945240974426,
+            0.8001014590263367,
+            0.20086321234703064,
+            0.14187531173229218,
+            0.13189458847045898,
+            0.20612671971321106,
+            0.12438793480396271,
+            0.2093699872493744,
+            0.24539747834205627,
+            0.42065659165382385,
+            0.10000479221343994,
+            0.09999857097864151
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "observation.eef_pose": {
+        "mean": [
+            0.059076074984334634,
+            0.562262413124972,
+            0.6431558588161249,
+            0.24738982377685784,
+            0.14560895105779856,
+            -0.04168656797404228,
+            -0.2403108181883402
+        ],
+        "std": [
+            0.8728305128563465,
+            1.3324701155136593,
+            0.08005305207688716,
+            0.5620978831767327,
+            0.3032675582019218,
+            0.38206689795781273,
+            0.5515512612588991
+        ],
+        "min": [
+            -3.2442498207092285,
+            -2.2184343338012695,
+            0.581926703453064,
+            -0.5011188983917236,
+            -0.298202246427536,
+            -0.6091444492340088,
+            -0.8849727511405945
+        ],
+        "max": [
+            1.3350749015808105,
+            2.2677924633026123,
+            0.7937256693840027,
+            0.9289647340774536,
+            0.5495461225509644,
+            0.3702154755592346,
+            0.6329124569892883
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            0.0022293545816208606,
+            3.844839472432406e-21,
+            4.9950285437158424e-08,
+            5.142382887949084e-19,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.27000001072883606,
+            1.149999976158142,
+            0.43299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.24000080894731654,
+            1.149999976158142,
+            0.4298276901245117,
+            0.9999983906745911,
+            -3.000809245214599e-07,
+            -0.0018024286586957293,
+            -6.374006320901191e-07,
+            0.018884641268877924,
+            1.1494962850347876,
+            0.43713494855596113,
+            0.9999191470036709,
+            -0.0003913518866311406,
+            -0.004345806113052497,
+            0.0004826831045982376,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -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,
+            0.8299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0015149319578965e-07,
+            1.2349997758865356,
+            0.43199917674064636,
+            1.0,
+            -1.9057931532249174e-06,
+            1.917412499233159e-05,
+            -2.245876439204105e-06,
+            -0.23980160925856803,
+            1.234964388113904,
+            0.4319999685849313,
+            0.9999998211860657,
+            -9.544218629564424e-06,
+            -9.431868109153347e-06,
+            0.0005573679336644131
+        ],
+        "std": [
+            0.008781119733076945,
+            5.21852685656594e-22,
+            0.008006700298166256,
+            2.8888511773776796e-18,
+            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,
+            7.935498439263497e-09,
+            0.0,
+            0.0,
+            0.0,
+            3.3904727520334675e-07,
+            4.241392143033481e-07,
+            1.890999937153397e-07,
+            0.06685979070894645,
+            0.0024502345637230556,
+            0.02518917422584939,
+            0.0003587887874811016,
+            0.0022289630181262237,
+            0.008773891582911515,
+            0.007770126937953175,
+            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,
+            6.823730914318268e-10,
+            0.0,
+            0.0,
+            0.0,
+            1.2562146365595517e-07,
+            6.292986331669653e-08,
+            9.142744379538462e-09,
+            7.347924573444183e-09,
+            4.2075295962729326e-08,
+            1.4916585229774483e-08,
+            0.0,
+            2.0785911828430493e-07,
+            1.8152749397852652e-07,
+            2.074214464323584e-07
+        ],
+        "min": [
+            3.4383042513570205e-21,
+            0.0,
+            -0.06224890425801277,
+            0.0,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.27000001072883606,
+            1.149999976158142,
+            0.43299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.24000082910060883,
+            1.149999976158142,
+            0.4298276901245117,
+            0.9999983906745911,
+            -1.1367993693056633e-06,
+            -0.0018033921951428056,
+            -1.197600909108587e-06,
+            -8.216593414545059e-07,
+            1.129610538482666,
+            0.4298154413700104,
+            0.9968633055686951,
+            -0.02281777933239937,
+            -0.0541408397257328,
+            -0.02020115777850151,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -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,
+            0.8299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.9843818677145464e-07,
+            1.2349997758865356,
+            0.43199917674064636,
+            1.0,
+            -2.202007635787595e-06,
+            1.8995182472281158e-05,
+            -2.267951458634343e-06,
+            -0.23980161547660828,
+            1.234964370727539,
+            0.43199992179870605,
+            0.9999998211860657,
+            -1.0233119610347785e-05,
+            -1.0361680324422196e-05,
+            0.0005565430619753897
+        ],
+        "max": [
+            0.039998263120651245,
+            5.807384664729054e-21,
+            0.06236992031335831,
+            1.9081951618299978e-17,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.27000001072883606,
+            1.149999976158142,
+            0.43299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.24000078439712524,
+            1.149999976158142,
+            0.4298276901245117,
+            0.9999983906745911,
+            3.1995071481105697e-07,
+            -0.001801936305128038,
+            -8.472125756497917e-08,
+            0.2760388255119324,
+            1.1525235176086426,
+            0.5476652383804321,
+            0.9999983906745911,
+            0.010349923744797707,
+            0.013897511176764965,
+            0.05680998042225838,
+            0.0,
+            0.44999998807907104,
+            0.4300000071525574,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            -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,
+            0.8299999833106995,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            2.020948102199327e-07,
+            1.2349997758865356,
+            0.43199917674064636,
+            1.0,
+            -1.548083218949614e-06,
+            1.9379580407985486e-05,
+            -2.2194976736500394e-06,
+            -0.23980160057544708,
+            1.2349644899368286,
+            0.43199998140335083,
+            0.9999998211860657,
+            -8.757724572205916e-06,
+            -8.871140380506404e-06,
+            0.0005578760174103081
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "action.command": {
+        "mean": [
+            -1.22809946614763,
+            -1.178292643505594,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.5996908809891809,
+            0.060464012586271286,
+            0.6241426991595321,
+            0.6455824448852303,
+            0.22028756602285818,
+            0.16359394723966925,
+            -0.04484885101893217,
+            -0.312646334188367,
+            0.3333333333333333,
+            -1.0568109167658764,
+            -1.1275979886884275,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.9226739321065985,
+            -1.0795548397561778,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.7736234618269879,
+            -1.0573241202727608,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.7291357019673224,
+            -1.045505286299664,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.5234773962394051,
+            -0.9942665670229041,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.45571531575659047,
+            -0.9673283100128174,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.39665264979652737,
+            -0.9472064121909763,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.21002355140188467,
+            -0.9062025707700978,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.09992910468060037,
+            -0.8843280571958293,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            -0.0423891834590746,
+            -0.7928375042003134,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.06180721573207689,
+            -0.6440724845813668,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.15116607313570768,
+            -0.5689480740091075,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.19525502868320632,
+            -0.4762638033732124,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.219720603072125,
+            -0.4295342606046925,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.3588448317154594,
+            -0.23331267807794653,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.44227144096208654,
+            -0.1719174571659254,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.49065461988034453,
+            -0.07611716052760249,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.5210288151450779,
+            -0.03799345130505769,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.6189750505530316,
+            0.06539165507192198,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.6374276928279711,
+            0.15742311322170754,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.6372789424398672,
+            0.2874719402064448,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.6964361087135646,
+            0.3332497026609338,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.7165284758028777,
+            0.35160263310308043,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.7245776953904525,
+            0.37661887666453486,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.7377921617549399,
+            0.561113895540652,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            0.7392641108968984,
+            0.6946873364241227,
+            -0.3687956695971282,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.06647882494481577,
+            -0.12028245209459809,
+            0.5827743951825128,
+            0.7213168247886326,
+            -0.03816129481554895,
+            0.28511140819477,
+            -0.039279941924294265,
+            0.0,
+            1.170562982559204,
+            1.5302207469940186,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            1.1551445722579956,
+            1.5670928955078125,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            1.127187728881836,
+            1.6339495182037354,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            1.0492475032806396,
+            1.8203380107879639,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.9778299927711487,
+            1.9171967506408691,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.7321357131004333,
+            1.9852919578552246,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.6737260222434998,
+            2.0014805793762207,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.640068531036377,
+            2.0108089447021484,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.4399348497390747,
+            2.066276788711548,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.3606455624103546,
+            2.088252067565918,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.20276711881160736,
+            2.1320085525512695,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.0631614476442337,
+            2.1322922706604004,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0,
+            0.0,
+            2.049999952316284,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.7632699092946282,
+            0.7357029584564374,
+            0.5828210382674222,
+            0.7174477899018588,
+            0.10331424320457687,
+            0.3103329946807293,
+            -0.40014096495953383,
+            0.0
+        ],
+        "std": [
+            1.4578567727590959,
+            0.7302261017125328,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.4966835765276676,
+            0.933461745579266,
+            1.3277191093249394,
+            0.07984638196168141,
+            0.5740390560650863,
+            0.28000696838455524,
+            0.38074893342216126,
+            0.5215905346120209,
+            0.4714045207910316,
+            1.426302094954642,
+            0.6883531729476079,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.3552431619729604,
+            0.6393514245923803,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4493361962943405,
+            0.6454286591373422,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4486275206755093,
+            0.6371718335278729,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4642228165908093,
+            0.6056026131423772,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.41350431943746,
+            0.5756643055635596,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.3879501365420184,
+            0.5560936415761485,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4326196152340194,
+            0.5381192141612866,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4474958065878465,
+            0.5200545619083095,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.437563513411359,
+            0.5649338796161596,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.4026802068223507,
+            0.6245863376887973,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.3203497306188492,
+            0.6086885951958274,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.3353025747008151,
+            0.6719424713252083,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.3389016027915317,
+            0.7010319860959648,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.2899157585737657,
+            0.7775984002099661,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.2043160985584878,
+            0.7515812736556622,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.2148186231408187,
+            0.8134394168762915,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.1994113089158485,
+            0.8241269393126093,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.130193316057096,
+            0.8335987367347997,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            1.0475435403943498,
+            0.8582876650259723,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.9548654094060778,
+            0.9151729118149371,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.8677977598429305,
+            0.8855298591888084,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.8362240781875471,
+            0.8766859420496136,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.8109687134668497,
+            0.8808524784333983,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.6671450128834995,
+            0.9502915648752471,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.5819648932958523,
+            0.979845131380028,
+            1.5268893187399253,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2591205163729016,
+            1.4196105960720524,
+            5.925024803520272e-05,
+            0.09560793511681802,
+            0.227690981151936,
+            0.04766706584563304,
+            0.5763314723414039,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.41267794929275115,
+            1.0958641077445745,
+            3.8459874071317006e-08,
+            0.10375640658661132,
+            0.17048191718477793,
+            0.028102788120762435,
+            0.421373924810195,
+            0.0
+        ],
+        "min": [
+            -3.080000162124634,
+            -2.105891466140747,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -1.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            -0.5162549018859863,
+            -0.5006415843963623,
+            -0.5816075801849365,
+            -0.9120306968688965,
+            0.0,
+            -2.8686280250549316,
+            -2.0020060539245605,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.644225597381592,
+            -1.891716480255127,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.6147005558013916,
+            -1.8772056102752686,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.569312572479248,
+            -1.85489821434021,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.383464813232422,
+            -1.7635574340820312,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.2512755393981934,
+            -1.6985888481140137,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.1597516536712646,
+            -1.6536065340042114,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -2.0298657417297363,
+            -1.589769959449768,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.9386683702468872,
+            -1.5449481010437012,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.8685115575790405,
+            -1.510467290878296,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.7200032472610474,
+            -1.4374781847000122,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.5260608196258545,
+            -1.3421590328216553,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.5009663105010986,
+            -1.329825520515442,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.4810725450515747,
+            -1.3200480937957764,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.2797220945358276,
+            -1.2210880517959595,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.0875591039657593,
+            -1.1266435384750366,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.0525171756744385,
+            -1.1094210147857666,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -1.0025712251663208,
+            -1.0848735570907593,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.8166980743408203,
+            -0.9935203790664673,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.6932562589645386,
+            -0.9328510165214539,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.5756769180297852,
+            -0.8750629425048828,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.40591859817504883,
+            -0.7916299104690552,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.34571850299835205,
+            -0.7620426416397095,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.30558764934539795,
+            -0.7423191070556641,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            -0.10967539250850677,
+            -0.6460318565368652,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.0,
+            -0.550000011920929,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.2442498207092285,
+            -2.21805739402771,
+            0.5826990604400635,
+            0.6326357126235962,
+            -0.29780203104019165,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            1.170562982559204,
+            1.5302207469940186,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            1.1551445722579956,
+            1.5670928955078125,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            1.127187728881836,
+            1.6339495182037354,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            1.0492475032806396,
+            1.8203380107879639,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.9778299927711487,
+            1.9171967506408691,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.7321357131004333,
+            1.9852919578552246,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.6737260222434998,
+            2.0014805793762207,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.640068531036377,
+            2.0108089447021484,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.4399348497390747,
+            2.066276788711548,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.3606455624103546,
+            2.088252067565918,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.20276711881160736,
+            2.1320085525512695,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.0631614476442337,
+            2.1322922706604004,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0,
+            0.0,
+            2.049999952316284,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.008695006370544434,
+            -0.7637625932693481,
+            0.5828209519386292,
+            0.6326357126235962,
+            -0.2977656126022339,
+            0.2194763720035553,
+            -0.6803951263427734,
+            0.0
+        ],
+        "max": [
+            -0.08044269680976868,
+            -0.6034426689147949,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.7959350347518921,
+            0.9290652275085449,
+            0.5452609658241272,
+            0.5008825063705444,
+            0.6320858597755432,
+            1.0,
+            0.06600531935691833,
+            -0.5857113003730774,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.14420315623283386,
+            -0.5762434005737305,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.36732572317123413,
+            -0.5492285490036011,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.4112555980682373,
+            -0.5439096689224243,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.6291908621788025,
+            -0.517522931098938,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.6570262312889099,
+            -0.5141527652740479,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.6959720849990845,
+            -0.5094373226165771,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.9177659749984741,
+            -0.48258334398269653,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.0395712852478027,
+            -0.47492972016334534,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.089292287826538,
+            -0.3481091856956482,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.1660277843475342,
+            -0.1523844450712204,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.190574288368225,
+            -0.08977508544921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.2464344501495361,
+            0.05270402133464813,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.2737332582473755,
+            0.12233346700668335,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.3742947578430176,
+            0.37882980704307556,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.3903354406356812,
+            0.41974377632141113,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.446986436843872,
+            0.5642401576042175,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.4652316570281982,
+            0.6107773184776306,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.508687973022461,
+            0.7216188311576843,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.4620769023895264,
+            0.8330859541893005,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.388969898223877,
+            1.0079160928726196,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.3795855045318604,
+            1.0303581953048706,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.3748223781585693,
+            1.0417490005493164,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.3629900217056274,
+            1.0700452327728271,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.2629833221435547,
+            1.3092042207717896,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.197399616241455,
+            1.4660428762435913,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.170562982559204,
+            1.5302207469940186,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.1551445722579956,
+            1.5670928955078125,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.127187728881836,
+            1.6339495182037354,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            1.0492475032806396,
+            1.8203380107879639,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.9778299927711487,
+            1.9171967506408691,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.7321357131004333,
+            1.9852919578552246,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.6737260222434998,
+            2.0014805793762207,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.640068531036377,
+            2.0108089447021484,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.4399348497390747,
+            2.066276788711548,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.3606455624103546,
+            2.088252067565918,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.20276711881160736,
+            2.1320085525512695,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.0631614476442337,
+            2.1322922706604004,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0,
+            0.0,
+            2.049999952316284,
+            -1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.3342223167419434,
+            2.2675464153289795,
+            0.5828211307525635,
+            0.9290652275085449,
+            0.21923573315143585,
+            0.3699098229408264,
+            0.6320858597755432,
+            0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "action.applied": {
+        "mean": [
+            0.009582070085414352,
+            -0.06277177203886819,
+            -0.02558880726002524,
+            2.166274588666561,
+            -0.9448769691825959,
+            -0.390799419179256,
+            1.8925198215958559,
+            0.18870883603233637,
+            1.3083272057155915,
+            -0.016651070890679392,
+            0.00596151202489483,
+            -0.00596151202489483
+        ],
+        "std": [
+            0.13757111837645278,
+            0.13398954379956618,
+            0.21987454431516043,
+            1.1348464808175405,
+            0.13881982134893123,
+            0.5113956476031972,
+            0.253152665312347,
+            0.24417822541352205,
+            0.12673686738013834,
+            0.3324573557266943,
+            0.011090896048638006,
+            0.011090896048638006
+        ],
+        "min": [
+            -0.30000001192092896,
+            -0.30000001192092896,
+            -0.800000011920929,
+            -0.02368452586233616,
+            -1.237027645111084,
+            -1.3778122663497925,
+            1.2897065877914429,
+            -0.0007165524293668568,
+            0.9846466183662415,
+            -0.6461150050163269,
+            -0.009999999776482582,
+            -0.020833000540733337
+        ],
+        "max": [
+            0.30000001192092896,
+            0.30000001192092896,
+            0.800000011920929,
+            3.0057661533355713,
+            -0.5911055207252502,
+            0.001737847924232483,
+            2.2669928073883057,
+            0.7514255046844482,
+            1.4085206985473633,
+            0.8900251984596252,
+            0.020833000540733337,
+            0.009999999776482582
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "extra.reward": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "next.truncated": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "sim_step_idx": {
+        "mean": [
+            1541.0
+        ],
+        "std": [
+            855.055553750749
+        ],
+        "min": [
+            61.0
+        ],
+        "max": [
+            3021.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            29.600000001535392
+        ],
+        "std": [
+            17.101111074211236
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            59.20000076293945
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            740.0
+        ],
+        "std": [
+            427.5277768753745
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1480.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "index": {
+        "mean": [
+            740.0
+        ],
+        "std": [
+            427.5277768753745
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1480.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "next.done": {
+        "mean": [
+            0.0006752194463200541
+        ],
+        "std": [
+            0.02597621075175063
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "count": [
+            1481
+        ]
+    },
+    "observation.images.head": {
+        "mean": [
+            [
+                [
+                    0.5213288818802355
+                ]
+            ],
+            [
+                [
+                    0.4530813104560844
+                ]
+            ],
+            [
+                [
+                    0.37620758131423204
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.1481888735198898
+                ]
+            ],
+            [
+                [
+                    0.1610380105576773
+                ]
+            ],
+            [
+                [
+                    0.17549081673256398
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    0.996078431372549
+                ]
+            ],
+            [
+                [
+                    0.9882352941176471
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    },
+    "observation.images.wrist": {
+        "mean": [
+            [
+                [
+                    0.4224208413823434
+                ]
+            ],
+            [
+                [
+                    0.3405504374773355
+                ]
+            ],
+            [
+                [
+                    0.2803384063717758
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.14515397313545828
+                ]
+            ],
+            [
+                [
+                    0.13988890761752062
+                ]
+            ],
+            [
+                [
+                    0.1409142898269461
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9607843137254902
+                ]
+            ],
+            [
+                [
+                    0.9490196078431372
+                ]
+            ],
+            [
+                [
+                    0.9254901960784314
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}

N053/sawyer_umi/dr_on/seed_2050/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 sha256:5a4d41ee31df2a6b6f34084b7026ca7752334cdc31f342de9a954d0013a46f37
+size 22467381

N053/sawyer_umi/dr_on/seed_2050/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 sha256:48b80d78fd86c1f9c97da7ce89ad4d9a372f223ccbed23a70497f88cd79d770a
+size 29599120

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/run_meta.json

@@ -0,0 +1,1029 @@
+{
+    "run_id": "memorystage/000",
+    "created": "2026-11-08 04:53:33",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n053_saw_on_2050/out/rec",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MemoryN053Env-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "dt": 0.005,
+                "decimation": 4,
+                "seed": 2050,
+                "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": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.08,
+                                -2.1059,
+                                0.06
+                            ],
+                            [
+                                -3.08,
+                                -2.1059,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                -2.320479070279834
+                            ],
+                            [
+                                0,
+                                0,
+                                -2.320479070279834
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_prismatic_x_joint": 0.0,
+                            "dummy_base_prismatic_y_joint": 0.0,
+                            "dummy_base_revolute_z_joint": 0.0,
+                            "head_pan": -3.0,
+                            "right_j0": 3.0,
+                            "right_j1": -1.0,
+                            "right_j2": 0.0,
+                            "right_j3": 2.0,
+                            "right_j4": 0.0,
+                            "right_j5": 1.4,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 20,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 400.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "batch_size": 1,
+                            "debug": false,
+                            "motiongen_num_instances": 1,
+                            "microbatch_wait_ms": 400.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.62,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.45,
+                                "scan_min_z": 0.22,
+                                "scan_max_z": 1.75,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d",
+                                "own_body_clear": true,
+                                "own_body_radius": 0.25,
+                                "goal_cost_mode": "path"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2,
+                                "kd_angular_turning_only": 1,
+                                "kp_linear_x": 4,
+                                "kp_linear_y": 4,
+                                "kp_angular": 2,
+                                "kd_linear_x": 1.5,
+                                "kd_linear_y": 1.5,
+                                "min_vel": -0.4,
+                                "max_vel": 0.8,
+                                "linear_dead_zone": 0.05,
+                                "angular_dead_zone": 0.2,
+                                "nav_heading_target": 0
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "wheel_base": 0.01,
+                        "robot_radius": 0.62
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "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": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.75,
+                                0.83
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                1.4,
+                                0.1,
+                                1.6
+                            ]
+                        },
+                        "st_wall_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
+                            }
+                        }
+                    },
+                    "rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Station/n053_rack/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.45,
+                                0.43
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "rack_1": {
+                            "physics": {
+                                "type": "articulation"
+                            },
+                            "device": {
+                                "units": {
+                                    "pen0": {
+                                        "kind": "linear",
+                                        "joint": "pen0_joint",
+                                        "positions": {
+                                            "rest": 0.0,
+                                            "touch": 0.04
+                                        },
+                                        "initial": "rest",
+                                        "travel_time": 1.2,
+                                        "profile": "min_jerk",
+                                        "tolerance": 0.002,
+                                        "settle_time": 0.1
+                                    },
+                                    "pen1": {
+                                        "kind": "linear",
+                                        "joint": "pen1_joint",
+                                        "positions": {
+                                            "rest": 0.0,
+                                            "touch": 0.04
+                                        },
+                                        "initial": "rest",
+                                        "travel_time": 1.2,
+                                        "profile": "min_jerk",
+                                        "tolerance": 0.002,
+                                        "settle_time": 0.1
+                                    }
+                                }
+                            }
+                        }
+                    },
+                    "pen_s0": {
+                        "usd": [
+                            "/workspace/mobilemanipbench/data/dexgrasp-robotwin-4gripper/rigid_pen_00010/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.24,
+                                1.15,
+                                0.431
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "pen_s0_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.02,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "pen_s1": {
+                        "usd": [
+                            "/workspace/mobilemanipbench/data/dexgrasp-robotwin-4gripper/rigid_pen_00010/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.15,
+                                0.431
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "pen_s1_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.02,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "pad": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.27,
+                                1.15,
+                                0.433
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.13,
+                                0.13,
+                                0.006
+                            ]
+                        },
+                        "pad_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.15,
+                                    0.55,
+                                    0.9
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "tag_red": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.235,
+                                0.432
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.05,
+                                0.022,
+                                0.004
+                            ]
+                        },
+                        "tag_red_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    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
+                                }
+                            }
+                        }
+                    },
+                    "tag_blue": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.235,
+                                0.432
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.05,
+                                0.022,
+                                0.004
+                            ]
+                        },
+                        "tag_blue_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    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
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 120,
+                    "agent_height_cm": 110,
+                    "min_agent_radius_cm": 70.0,
+                    "max_agent_radius_cm": 70.0,
+                    "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": "N053",
+            "family_id": "contact_history_memory",
+            "level": "easy",
+            "agent_id": "a11",
+            "embodiment": "sawyer_umi",
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_s": 420.0,
+                "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": 0.75,
+                    "start": [
+                        -3.08,
+                        -2.1059,
+                        -0.0405
+                    ],
+                    "flip_x": false,
+                    "b_dx": 0.0,
+                    "b_dyaw": 0.0,
+                    "window": null,
+                    "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": [
+                            0.34,
+                            0.0,
+                            0.76
+                        ],
+                        "pitch_deg": -20.0,
+                        "hfov_deg": 73.74,
+                        "vfov_deg": 58.72,
+                        "far": 8.0
+                    }
+                }
+            },
+            "command": {
+                "MemoryStage": {
+                    "script": "n053",
+                    "init_limit": 60,
+                    "hold_after_every_walk": true
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MemoryStage": {
+                    "script": "n053",
+                    "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
+                }
+            },
+            "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/n053_saw_on_2050/out/rec",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "tag_red",
+                "tag_blue",
+                "rack",
+                "pad",
+                "pen_s0",
+                "pen_s1"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d59a5f0f51baed8d6a3c3da4f9d32ff8ede2d0def4bc99bd75256cc058552c0
+size 375371

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,759 @@
+{
+    "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": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.75,
+                                    0.83
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.4,
+                                    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_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": {}
+                        }
+                    ],
+                    "rack": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim2_1794082842-4096_1794082839-4096_/Assets/Station/n053_rack/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.44999998807907104,
+                                    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": [
+                                    3.4383042513570205e-21,
+                                    3.4383042513570205e-21
+                                ],
+                                "joint_velocity": [
+                                    0.0,
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ],
+                    "pen_s0": [
+                        {
+                            "asset": "/workspace/mobilemanipbench/data/dexgrasp-robotwin-4gripper/rigid_pen_00010/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -0.24000081419944763,
+                                    1.149999976158142,
+                                    0.4298276901245117
+                                ],
+                                "ori": [
+                                    0.9999982714653015,
+                                    -5.751212484028656e-08,
+                                    -0.0018021244322881103,
+                                    -8.013012120500207e-07
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.02,
+                                    "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": [
+                                    -1.5713885659351945e-07,
+                                    -2.574170139268972e-07,
+                                    -2.5879495524350205e-07
+                                ],
+                                "angular_velocity": [
+                                    7.017098687356338e-05,
+                                    -4.990666184312431e-06,
+                                    7.032538178464165e-06
+                                ]
+                            }
+                        }
+                    ],
+                    "pen_s1": [
+                        {
+                            "asset": "/workspace/mobilemanipbench/data/dexgrasp-robotwin-4gripper/rigid_pen_00010/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -8.047791197896004e-07,
+                                    1.149999976158142,
+                                    0.4298277199268341
+                                ],
+                                "ori": [
+                                    0.9999983310699463,
+                                    -4.219791662762873e-07,
+                                    -0.001802301499992609,
+                                    -3.630411811172962e-07
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.02,
+                                    "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": [
+                                    -3.5396913062868407e-06,
+                                    -9.224133464158513e-06,
+                                    -1.375169290440681e-06
+                                ],
+                                "angular_velocity": [
+                                    0.00013769735232926905,
+                                    5.9882258938159794e-05,
+                                    0.00040165800601243973
+                                ]
+                            }
+                        }
+                    ],
+                    "pad": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.27,
+                                    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": {}
+                        }
+                    ],
+                    "tag_red": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -0.23980160057544708,
+                                    1.2349644899368286,
+                                    0.43199995160102844
+                                ],
+                                "ori": [
+                                    0.9999998211860657,
+                                    -9.69636039371835e-06,
+                                    -9.28314148040954e-06,
+                                    0.0005576254334300756
+                                ],
+                                "scale": [
+                                    0.05,
+                                    0.022,
+                                    0.004
+                                ]
+                            },
+                            "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": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.0035170374903827906,
+                                    -0.000876287929713726,
+                                    0.010764313861727715
+                                ],
+                                "angular_velocity": [
+                                    0.6373187899589539,
+                                    0.3879829943180084,
+                                    -0.05139894038438797
+                                ]
+                            }
+                        }
+                    ],
+                    "tag_blue": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.0017198210098286e-07,
+                                    1.2349997758865356,
+                                    0.43199917674064636
+                                ],
+                                "ori": [
+                                    1.0,
+                                    -2.095304580507218e-06,
+                                    1.9209714082535356e-05,
+                                    -2.2407498363463674e-06
+                                ],
+                                "scale": [
+                                    0.05,
+                                    0.022,
+                                    0.004
+                                ]
+                            },
+                            "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": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.001052440027706325,
+                                    1.511577738710912e-05,
+                                    0.0007191217155195773
+                                ],
+                                "angular_velocity": [
+                                    0.011187453754246235,
+                                    -0.05194542929530144,
+                                    0.019404597580432892
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "devices": {
+                "hub": [
+                    {
+                        "t": 1.2399999999999956,
+                        "step": 248,
+                        "counter": 0,
+                        "devices": {
+                            "rack_1": {
+                                "mode": "auto",
+                                "units": {
+                                    "pen0": {
+                                        "state": "at_rest",
+                                        "active": null,
+                                        "target": 0.0,
+                                        "goal_name": "rest",
+                                        "profile": null,
+                                        "q_start": null,
+                                        "reversing": false,
+                                        "blocked_for": 0.0,
+                                        "settled_for": 0.0,
+                                        "last_q": 3.4383042513570205e-21
+                                    },
+                                    "pen1": {
+                                        "state": "at_rest",
+                                        "active": null,
+                                        "target": 0.0,
+                                        "goal_name": "rest",
+                                        "profile": null,
+                                        "q_start": null,
+                                        "reversing": false,
+                                        "blocked_for": 0.0,
+                                        "settled_for": 0.0,
+                                        "last_q": 3.4383042513570205e-21
+                                    }
+                                },
+                                "queues": {},
+                                "program": null,
+                                "sensors": {},
+                                "interlocks": {}
+                            }
+                        },
+                        "zones": {},
+                        "labware": {},
+                        "rules": {},
+                        "records": [],
+                        "bus": {
+                            "seq": 0,
+                            "queue": []
+                        }
+                    }
+                ],
+                "drives": [
+                    {}
+                ]
+            },
+            "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": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.0799999237060547,
+                        -2.1059000492095947,
+                        0.05999999865889549,
+                        0.9997949600219727,
+                        0.0,
+                        0.0,
+                        -0.020248616114258766
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        3.0,
+                        -3.0,
+                        -1.0,
+                        0.0,
+                        2.0,
+                        0.0,
+                        1.399999976158142,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a03755d10fb135b73654588a552b51423b5412d54a6d15df7fa0ad68119fef
+size 496386

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 05:10:17"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N053/sawyer_umi/dr_on/seed_2050/rec/memorystage/000/visual_dr.json

@@ -0,0 +1,686 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "tag_red",
+   "tag_blue",
+   "rack",
+   "pad",
+   "pen_s0",
+   "pen_s1"
+  ],
+  "skip": [
+   "*Robot_*",
+   "*/Camera*",
+   "*/camera*"
+  ],
+  "light_intensity": [
+   0.6,
+   1.5
+  ],
+  "light_color_temperature": [
+   3500.0,
+   7500.0
+  ],
+  "light_jitter_deg": 5.0,
+  "dome_swap_prob": 0.5,
+  "dome_tint_sat": [
+   0.0,
+   0.15
+  ],
+  "dome_yaw": true,
+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
+   0.0,
+   0.3
+  ],
+  "tint_val": [
+   0.7,
+   1.0
+  ],
+  "roughness_scale": [
+   0.8,
+   1.25
+  ],
+  "material_swap": true,
+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 0,
+   "episode_seed": 2050,
+   "seeds": {
+    "0": 2050
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 21277.263924,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6744.623764,
+     "rotate_deg": [
+      -3.031,
+      -0.021,
+      -2.948
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1321.582698,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5232.649652,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      99.761
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.8228,
+       0.827985,
+       0.73185
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.9238,
+      0.8272,
+      0.975
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.422062,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Beech.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Beech",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Natural_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "tag_red": 1,
+    "tag_blue": 1,
+    "rack": 6,
+    "pad": 1,
+    "pen_s0": 1,
+    "pen_s1": 1
+   },
+   "physics_skip": {
+    "physics_binding": 14,
+    "rigid_body": 97,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/sz850_cache/MagicSim2_1794082842-4096_1794082839-4096_/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 2050,
+   "seeds": {
+    "0": 2050
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 21277.263924,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6744.623764,
+     "rotate_deg": [
+      -3.031,
+      -0.021,
+      -2.948
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1321.582698,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5232.649652,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      99.761
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.8228,
+       0.827985,
+       0.73185
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.9238,
+      0.8272,
+      0.975
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.422062,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Beech.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Beech",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Natural_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "tag_red": 1,
+    "tag_blue": 1,
+    "rack": 6,
+    "pad": 1,
+    "pen_s0": 1,
+    "pen_s1": 1
+   },
+   "physics_skip": {
+    "physics_binding": 14,
+    "rigid_body": 97,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/sz850_cache/MagicSim2_1794082842-4096_1794082839-4096_/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N053/sawyer_umi/dr_on/seed_2050/report.json

@@ -0,0 +1,1089 @@
+{
+  "task_id": "N053",
+  "config": "/mnt/scratch/sz850_cache/MagicSim2_1794082842-4096_1794082839-4096_/src/magicsim/Collect/Task/MemoryStation/Conf/memory_n053_easy.yaml",
+  "episodes": [
+    {
+      "task_id": "N053",
+      "task_version": "EXT60-MobileAvatar-v3",
+      "agent_id": "a11",
+      "family_id": "contact_history_memory",
+      "primary_category": "C6",
+      "level": "easy",
+      "embodiment": "sawyer_umi",
+      "scene_seed": 2050,
+      "execution_mode": "expert_collect_chain",
+      "station_layout": {
+        "A": [
+          0.0,
+          -0.55,
+          1.571
+        ],
+        "B": [
+          0.0,
+          2.05,
+          -1.571
+        ],
+        "S": [
+          -3.08,
+          -2.106,
+          -0.041
+        ],
+        "flip_x": false,
+        "route_m": {
+          "S_to_A_m": 3.74,
+          "A_to_B_m": 4.45,
+          "A_to_B_straight_m": 2.6,
+          "S_to_A_straight_m": 3.45
+        }
+      },
+      "spawn_pose": [
+        -3.08,
+        -2.1059,
+        -0.0405
+      ],
+      "base_path": [
+        [
+          -3.08,
+          -2.106,
+          -0.04,
+          0.02
+        ],
+        [
+          -2.982,
+          -2.078,
+          0.14,
+          1.68
+        ],
+        [
+          -2.88,
+          -2.062,
+          0.41,
+          2.02
+        ],
+        [
+          -2.782,
+          -2.04,
+          0.666,
+          2.34
+        ],
+        [
+          -2.679,
+          -2.016,
+          0.906,
+          2.64
+        ],
+        [
+          -2.583,
+          -1.986,
+          1.085,
+          2.9
+        ],
+        [
+          -2.486,
+          -1.944,
+          1.218,
+          3.16
+        ],
+        [
+          -2.396,
+          -1.897,
+          1.308,
+          3.4
+        ],
+        [
+          -2.309,
+          -1.844,
+          1.374,
+          3.64
+        ],
+        [
+          -2.225,
+          -1.786,
+          1.421,
+          3.88
+        ],
+        [
+          -2.139,
+          -1.725,
+          1.46,
+          4.14
+        ],
+        [
+          -2.055,
+          -1.668,
+          1.489,
+          4.4
+        ],
+        [
+          -1.966,
+          -1.61,
+          1.511,
+          4.68
+        ],
+        [
+          -1.879,
+          -1.556,
+          1.527,
+          4.96
+        ],
+        [
+          -1.787,
+          -1.501,
+          1.54,
+          5.26
+        ],
+        [
+          -1.696,
+          -1.449,
+          1.549,
+          5.56
+        ],
+        [
+          -1.605,
+          -1.398,
+          1.555,
+          5.86
+        ],
+        [
+          -1.514,
+          -1.349,
+          1.56,
+          6.16
+        ],
+        [
+          -1.424,
+          -1.301,
+          1.563,
+          6.46
+        ],
+        [
+          -1.333,
+          -1.254,
+          1.565,
+          6.76
+        ],
+        [
+          -1.243,
+          -1.208,
+          1.567,
+          7.06
+        ],
+        [
+          -1.153,
+          -1.161,
+          1.568,
+          7.36
+        ],
+        [
+          -1.058,
+          -1.114,
+          1.569,
+          7.68
+        ],
+        [
+          -0.963,
+          -1.067,
+          1.569,
+          8.0
+        ],
+        [
+          -0.868,
+          -1.02,
+          1.569,
+          8.32
+        ],
+        [
+          -0.773,
+          -0.974,
+          1.569,
+          8.64
+        ],
+        [
+          -0.679,
+          -0.927,
+          1.57,
+          8.96
+        ],
+        [
+          -0.584,
+          -0.88,
+          1.57,
+          9.28
+        ],
+        [
+          -0.489,
+          -0.833,
+          1.57,
+          9.6
+        ],
+        [
+          -0.399,
+          -0.788,
+          1.569,
+          9.9
+        ],
+        [
+          -0.311,
+          -0.737,
+          1.569,
+          10.2
+        ],
+        [
+          -0.222,
+          -0.686,
+          1.569,
+          10.58
+        ],
+        [
+          -0.135,
+          -0.635,
+          1.569,
+          11.14
+        ],
+        [
+          -0.043,
+          -0.594,
+          1.514,
+          16.94
+        ],
+        [
+          0.054,
+          -0.551,
+          1.325,
+          17.24
+        ],
+        [
+          0.145,
+          -0.508,
+          1.133,
+          17.48
+        ],
+        [
+          0.243,
+          -0.479,
+          1.005,
+          17.76
+        ],
+        [
+          0.346,
+          -0.492,
+          0.965,
+          18.32
+        ],
+        [
+          0.453,
+          -0.494,
+          0.898,
+          18.66
+        ],
+        [
+          0.554,
+          -0.477,
+          0.789,
+          18.92
+        ],
+        [
+          0.658,
+          -0.462,
+          0.702,
+          19.32
+        ],
+        [
+          0.757,
+          -0.443,
+          0.508,
+          19.66
+        ],
+        [
+          0.859,
+          -0.424,
+          0.124,
+          20.14
+        ],
+        [
+          0.959,
+          -0.426,
+          -0.5,
+          20.92
+        ],
+        [
+          0.989,
+          -0.329,
+          -0.714,
+          21.54
+        ],
+        [
+          1.033,
+          -0.231,
+          -0.903,
+          21.96
+        ],
+        [
+          1.059,
+          -0.132,
+          -1.032,
+          22.22
+        ],
+        [
+          1.107,
+          -0.04,
+          -1.143,
+          22.9
+        ],
+        [
+          1.15,
+          0.052,
+          -1.252,
+          23.16
+        ],
+        [
+          1.197,
+          0.146,
+          -1.333,
+          23.42
+        ],
+        [
+          1.243,
+          0.235,
+          -1.386,
+          23.68
+        ],
+        [
+          1.29,
+          0.326,
+          -1.438,
+          24.26
+        ],
+        [
+          1.337,
+          0.417,
+          -1.477,
+          24.56
+        ],
+        [
+          1.386,
+          0.508,
+          -1.513,
+          24.96
+        ],
+        [
+          1.435,
+          0.598,
+          -1.543,
+          25.56
+        ],
+        [
+          1.428,
+          0.699,
+          -1.553,
+          25.92
+        ],
+        [
+          1.409,
+          0.8,
+          -1.559,
+          26.26
+        ],
+        [
+          1.384,
+          0.902,
+          -1.563,
+          26.6
+        ],
+        [
+          1.361,
+          1.003,
+          -1.566,
+          26.94
+        ],
+        [
+          1.332,
+          1.099,
+          -1.568,
+          27.26
+        ],
+        [
+          1.296,
+          1.195,
+          -1.568,
+          27.58
+        ],
+        [
+          1.261,
+          1.29,
+          -1.568,
+          27.9
+        ],
+        [
+          1.223,
+          1.386,
+          -1.568,
+          28.22
+        ],
+        [
+          1.185,
+          1.482,
+          -1.568,
+          28.54
+        ],
+        [
+          1.143,
+          1.578,
+          -1.569,
+          28.86
+        ],
+        [
+          1.101,
+          1.67,
+          -1.569,
+          29.22
+        ],
+        [
+          1.041,
+          1.752,
+          -1.569,
+          29.6
+        ],
+        [
+          0.957,
+          1.812,
+          -1.57,
+          29.88
+        ],
+        [
+          0.867,
+          1.867,
+          -1.57,
+          30.18
+        ],
+        [
+          0.777,
+          1.914,
+          -1.57,
+          30.48
+        ],
+        [
+          0.681,
+          1.958,
+          -1.57,
+          30.8
+        ],
+        [
+          0.585,
+          1.997,
+          -1.571,
+          31.12
+        ],
+        [
+          0.489,
+          2.031,
+          -1.571,
+          31.44
+        ],
+        [
+          0.387,
+          2.06,
+          -1.571,
+          31.78
+        ],
+        [
+          0.288,
+          2.085,
+          -1.571,
+          32.2
+        ],
+        [
+          0.188,
+          2.107,
+          -1.571,
+          32.86
+        ],
+        [
+          0.091,
+          2.082,
+          -1.57,
+          33.66
+        ]
+      ],
+      "stage_events": [
+        {
+          "event": "arrived_A",
+          "from": "S",
+          "t": 11.08,
+          "path_len_m": 3.304
+        },
+        {
+          "event": "left_A",
+          "t": 19.28
+        },
+        {
+          "event": "arrived_B",
+          "from": "A",
+          "t": 32.72,
+          "path_len_m": 7.75
+        },
+        {
+          "event": "move_target",
+          "label": "take_pen:pre",
+          "mode": -1,
+          "pos": [
+            0.0079,
+            1.15,
+            0.7864
+          ],
+          "quat": [
+            0.5,
+            -0.5,
+            0.5,
+            0.5
+          ],
+          "base": [
+            0.0893,
+            2.0823,
+            0.06,
+            -1.5695
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "take_pen:down:0",
+          "mode": 4,
+          "pos": [
+            0.0079,
+            1.15,
+            0.6664
+          ],
+          "quat": [
+            0.5,
+            -0.5,
+            0.5,
+            0.5
+          ],
+          "base": [
+            0.0893,
+            2.0823,
+            0.06,
+            -1.5695
+          ]
+        },
+        {
+          "event": "settle_err",
+          "label": "take_pen:down",
+          "k": 0,
+          "err_mm": [
+            -0.4,
+            -0.5,
+            -4.9
+          ],
+          "norm_mm": 4.9
+        },
+        {
+          "event": "move_target",
+          "label": "take_pen:lift",
+          "mode": 4,
+          "pos": [
+            0.0079,
+            1.15,
+            0.7864
+          ],
+          "quat": [
+            0.5,
+            -0.5,
+            0.5,
+            0.5
+          ],
+          "base": [
+            0.0893,
+            2.0823,
+            0.06,
+            -1.5695
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_pad:over",
+          "mode": -1,
+          "pos": [
+            0.2747,
+            1.1515,
+            0.7805
+          ],
+          "quat": [
+            -0.4995,
+            0.5003,
+            -0.5004,
+            -0.4997
+          ],
+          "base": [
+            0.0893,
+            2.0823,
+            0.06,
+            -1.5695
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_pad:down",
+          "mode": 4,
+          "pos": [
+            0.2695,
+            1.1486,
+            0.6775
+          ],
+          "quat": [
+            -0.4977,
+            0.5184,
+            -0.4813,
+            -0.502
+          ],
+          "base": [
+            0.0893,
+            2.0823,
+            0.06,
+            -1.5695
+          ]
+        }
+      ],
+      "transport_state": {
+        "touched_specimen": "red",
+        "clean_pen_slot": 1,
+        "pad_touched": {
+          "red": false,
+          "blue": true
+        }
+      },
+      "manipulation_success": true,
+      "mobile_success": true,
+      "full_success": true,
+      "failure_reason": "",
+      "station_transition_order": [
+        "S",
+        "A",
+        "B"
+      ],
+      "distance_to_first_interaction": 3.304,
+      "interstation_path_lengths": {
+        "A": [
+          3.304
+        ],
+        "B": [
+          4.446
+        ]
+      },
+      "final_approach_pose": [
+        0.089,
+        2.082,
+        -1.569
+      ],
+      "cue_ledger": {
+        "read_s": 0.5,
+        "gap_s": 1.0,
+        "cues": {
+          "touched_tool": {
+            "reads": 1,
+            "first_read_t": 12.88,
+            "first_read_end_t": 14.36,
+            "gap_open_t": 15.36,
+            "reobserved_t": [],
+            "visible_now": false
+          }
+        },
+        "decisions": [
+          {
+            "label": "pick_tool",
+            "t": 33.7,
+            "class": "memory",
+            "per_cue": {
+              "touched_tool": "memory"
+            },
+            "remembered_touched": 1,
+            "clean_color": "blue"
+          }
+        ],
+        "protocol_valid": true
+      },
+      "public": {
+        "demo_running": false,
+        "demo_done": true
+      },
+      "truth": {
+        "touched": 0,
+        "red_slot": 0,
+        "slot_yaw_deg": [
+          0.0,
+          0.0
+        ]
+      },
+      "episode_time_s": 60.44,
+      "extra": {
+        "pen_pos": {
+          "0": [
+            -0.24,
+            1.15,
+            0.4298
+          ],
+          "1": [
+            0.2721,
+            1.1477,
+            0.4358
+          ]
+        },
+        "demo_start_t": 11.08,
+        "touch_event": {
+          "specimen": 0,
+          "color": "red",
+          "t": 12.38,
+          "slide_m": 0.04
+        },
+        "cue_diag": {
+          "touched_tool": {
+            "active_ticks": 100,
+            "visible_ticks": 100
+          }
+        },
+        "demo_done_t": 16.68,
+        "transport_state": {
+          "touched_specimen": "red",
+          "clean_pen_slot": 1,
+          "pad_touched": {
+            "red": false,
+            "blue": true
+          }
+        },
+        "first_pick": {
+          "color": "blue",
+          "correct": true,
+          "t": 54.26
+        },
+        "pad_contacts": [
+          {
+            "color": "blue",
+            "t": 60.44
+          }
+        ]
+      },
+      "env_terminated": true,
+      "env_truncated": false,
+      "control_ticks": 3022,
+      "diagnostics": {
+        "atomic_skill_info": null,
+        "global_planner_info": {},
+        "nav_reports": {
+          "0": {
+            "success": true,
+            "native_path": [
+              [
+                -0.08044269680976868,
+                -0.6034426689147949,
+                0.030429376289248466
+              ],
+              [
+                0.06600531935691833,
+                -0.5857113003730774,
+                0.03042936697602272
+              ],
+              [
+                0.14420315623283386,
+                -0.5762434005737305,
+                0.03042936511337757
+              ],
+              [
+                0.36732572317123413,
+                -0.5492285490036011,
+                0.03042936511337757
+              ],
+              [
+                0.4112555980682373,
+                -0.5439096689224243,
+                0.03042936511337757
+              ],
+              [
+                0.6291908621788025,
+                -0.517522931098938,
+                0.03042936511337757
+              ],
+              [
+                0.6570262312889099,
+                -0.5141527652740479,
+                0.03042936511337757
+              ],
+              [
+                0.6959720849990845,
+                -0.5094373226165771,
+                0.03042936511337757
+              ],
+              [
+                0.9177659749984741,
+                -0.48258334398269653,
+                0.03042936697602272
+              ],
+              [
+                1.0395712852478027,
+                -0.47492972016334534,
+                0.03042936697602272
+              ],
+              [
+                1.0395712852478027,
+                -0.47492969036102295,
+                0.03042936511337757
+              ],
+              [
+                1.089292287826538,
+                -0.3481091856956482,
+                0.030429363250732422
+              ],
+              [
+                1.1660277843475342,
+                -0.1523844450712204,
+                0.030429352074861526
+              ],
+              [
+                1.190574288368225,
+                -0.08977508544921875,
+                0.030429350212216377
+              ],
+              [
+                1.2464344501495361,
+                0.05270402133464813,
+                0.030429350212216377
+              ],
+              [
+                1.2737332582473755,
+                0.12233346700668335,
+                0.030429350212216377
+              ],
+              [
+                1.3742947578430176,
+                0.37882980704307556,
+                0.030429348349571228
+              ],
+              [
+                1.3903354406356812,
+                0.41974377632141113,
+                0.030429348349571228
+              ],
+              [
+                1.446986436843872,
+                0.5642401576042175,
+                0.030429348349571228
+              ],
+              [
+                1.4652316570281982,
+                0.6107773184776306,
+                0.03042934648692608
+              ],
+              [
+                1.508687973022461,
+                0.7216188311576843,
+                0.03042934462428093
+              ],
+              [
+                1.508687973022461,
+                0.7216188311576843,
+                0.03042934462428093
+              ],
+              [
+                1.4620769023895264,
+                0.8330859541893005,
+                0.03042934648692608
+              ],
+              [
+                1.388969898223877,
+                1.0079160928726196,
+                0.030429333448410034
+              ],
+              [
+                1.3795855045318604,
+                1.0303581953048706,
+                0.030429333448410034
+              ],
+              [
+                1.3748223781585693,
+                1.0417490005493164,
+                0.030429333448410034
+              ],
+              [
+                1.3629900217056274,
+                1.0700452327728271,
+                0.030429331585764885
+              ],
+              [
+                1.2629833221435547,
+                1.3092042207717896,
+                0.03042932040989399
+              ],
+              [
+                1.197399616241455,
+                1.4660428762435913,
+                0.03042932040989399
+              ],
+              [
+                1.170562982559204,
+                1.5302207469940186,
+                0.03042931854724884
+              ],
+              [
+                1.1551445722579956,
+                1.5670928955078125,
+                0.03042931668460369
+              ],
+              [
+                1.127187728881836,
+                1.6339495182037354,
+                0.030429314821958542
+              ],
+              [
+                1.0492475032806396,
+                1.8203380107879639,
+                0.030429307371377945
+              ],
+              [
+                0.9778299927711487,
+                1.9171967506408691,
+                0.030429303646087646
+              ],
+              [
+                0.9778299927711487,
+                1.9171967506408691,
+                0.030429303646087646
+              ],
+              [
+                0.7321357131004333,
+                1.9852919578552246,
+                0.030429303646087646
+              ],
+              [
+                0.6737260222434998,
+                2.0014805793762207,
+                0.030429301783442497
+              ],
+              [
+                0.640068531036377,
+                2.0108089447021484,
+                0.030429301783442497
+              ],
+              [
+                0.4399348497390747,
+                2.066276788711548,
+                0.030429288744926453
+              ],
+              [
+                0.3606455624103546,
+                2.088252067565918,
+                0.030429286882281303
+              ],
+              [
+                0.20276711881160736,
+                2.1320085525512695,
+                0.030429285019636154
+              ],
+              [
+                0.20276711881160736,
+                2.1320085525512695,
+                0.030429285019636154
+              ],
+              [
+                0.0631614476442337,
+                2.1322922706604004,
+                0.030429285019636154
+              ],
+              [
+                -6.868503987789154e-09,
+                2.049999952316284,
+                0.03042929247021675
+              ]
+            ],
+            "validated_points": 44,
+            "repaired": false,
+            "clearance_radius_m": 0.62,
+            "window_m": 12.0,
+            "window": "path",
+            "scan_s": 1.44
+          }
+        }
+      }
+    }
+  ],
+  "success": true,
+  "planner_seeds": "default",
+  "dr": {
+    "seed": 2050,
+    "spawn_jitter": 0.3,
+    "start": [
+      -3.08,
+      -2.1059,
+      -0.0405
+    ],
+    "nominal_start": [
+      -3.3,
+      -2.3,
+      0.0
+    ]
+  },
+  "collect": {
+    "task": "N053",
+    "robot": "sawyer_umi",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N053",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "output_dir": "/mnt/scratch/sz850_atomic/n053_saw_on_2050/out/rec/memorystage/000",
+  "steps": 3022,
+  "elapsed_s": 1122.195,
+  "episodes_run": 1,
+  "episodes_full_success": 1
+}