add N009/sawyer_umi/dr_on/seed_6038

N009/sawyer_umi/dr_on/seed_6038/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2160 rows vs ceil(4320/2) = 2160"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4419, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "61.98 MB, 2160 frames at 25 fps, mean luma 102..132, std 32, new picture 2159x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2160 vs 2160"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "71.35 MB, 2160 frames at 25 fps, mean luma 84..144, std 34, new picture 2159x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2160 vs 2160"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationlayer/000/sim_info"
+  }
+ }
+}

N009/sawyer_umi/dr_on/seed_6038/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n009_saw_on_6038/out  task=N009  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n009_saw_on_6038/out/record/stationlayer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2160  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: 2160 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'
+rows 2160 at dataset fps 25 = 86.40 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2160 rows vs ceil(4320/2) = 2160
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4419, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 61.98 MB, 2160 frames at 25 fps, mean luma 102..132, std 32, new picture 2159x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2160 vs 2160
+[PASS] video observation.images.wrist decodes, 640x480, not black: 71.35 MB, 2160 frames at 25 fps, mean luma 84..144, std 34, new picture 2159x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2160 vs 2160
+parquet size 52.35 MB
+[PASS] sim_info present: record/stationlayer/000/sim_info
+dataset size 188.06 MB; whole cell dir 240.7 MB
+RESULT: ALL PASS

N009/sawyer_umi/dr_on/seed_6038/config.yaml

@@ -0,0 +1,567 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    physx:
+      gpu_collision_stack_size: 33554432
+      gpu_heap_capacity: 268435456
+    seed: 6038
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.05
+        - - -2.9000000000000004
+          - -1.7
+          - 0.05
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          head_pan: 0.0
+          right_j0: 0.0
+          right_j1: -1.6
+          right_j2: 0.0
+          right_j3: 0.5
+          right_j4: 0.0
+          right_j5: -2.32
+          right_j6: 0.0
+          right_gripper_l_finger_joint: 0.0
+          right_gripper_r_finger_joint: 0.0
+      action:
+        base_action: holonomic_action
+        arm_action: ik_pink
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: ridgebacksawyer_umi
+          model_tuning: ridgeback_sawyer_umi
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          model_tuning: ridgeback_sawyer_umi
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 20.0
+          mode: position
+          relative_to_world_frame: false
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_holonomic
+          dwb_holonomic:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.36
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.35
+            scan_min_z: 0.12
+            scan_max_z: 1.65
+            goal_pos_threshold: 0.05
+            goal_yaw_threshold: 0.05
+            kp_goal_yaw: 1.5
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            goal_yaw_hysteresis: 0.02
+            min_vx: -0.3
+            max_vx: 0.3
+            min_vy: -0.3
+            max_vy: 0.3
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            scan_type: 3d
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 1.0
+            kp_linear_x: 3.0
+            kp_linear_y: 3.0
+            kp_angular: 2.0
+            kd_linear_x: 1.0
+            kd_linear_y: 1.0
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+            nav_heading_target: -1
+            nav_upgrade_distance: 0.03
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.66
+        wheel_base: 0.01
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.0
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/head
+        pos:
+        - 0.2166
+        - 0.0
+        - -0.045
+        ori:
+        - -0.0
+        - 35.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/right_electric_gripper_base
+        pos:
+        - 0.0598
+        - 0.0
+        - 0.03
+        ori:
+        - 180.0
+        - 0.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 150
+      min_agent_radius_cm: 45.0
+      max_agent_radius_cm: 45.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  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:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      layer_bottom:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_bottom_1:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.536
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.2
+              - 0.45
+              - 0.85
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+      layer_top:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_top_1:
+          pos:
+          - 1.14
+          - -1.8
+          - 0.55
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.95
+              - 0.55
+              - 0.15
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 16000
+    success_hold_frames: 3
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: sawyer_umi
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.55
+    settle_ticks: 80
+    hold_ticks: 10
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n009_saw_on_6038/out/reports.jsonl
+    carried:
+      type: garment
+      name: layer_top
+      id: 0
+    tracked:
+    - type: garment
+      name: layer_bottom
+      id: 0
+    cloth:
+      category: layer_top
+    layers: {}
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      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
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 20
+      interp_steps: 100
+      debug: false
+      debug_viz: false
+    RetractMoveL:
+      translation_threshold: 0.02
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n009_saw_on_6038/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationLayer:
+      robot_id: 0
+      init_limit: 100
+      max_attempt: 2
+      completion_timeout_steps: 300
+      direction:
+      - -1.0
+      - 0.0
+      stages:
+        release_height: 0.01
+        settle_ticks: 240
+env_string: LayerEnv-V0
+visual_dr:
+  keep:
+  - layer_top
+  - layer_bottom

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/completed/0.json

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

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/joint_names.json

@@ -0,0 +1,17 @@
+{
+ "RidgebackSawyerUmi": [
+  "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"
+ ]
+}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aff74af18d8636f52fe03fd1194eef3d7c608800eb3e007091112f6323cdcff
+size 52353887

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2160, "magicsim/control_steps": 4320, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height."}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,318 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationLayer",
+ "subsample_every": 2,
+ "control_steps": 4320,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_a_1",
+     "cat_name": "table_a",
+     "inst_id": 1,
+     "noun": "table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.147851813932137,
+      0.7566193662168419,
+      0.23000002271988837
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -3.3306690738754696e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_b_1",
+     "cat_name": "table_b",
+     "inst_id": 1,
+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.392271210701171,
+      4.678386717613794,
+      0.2300000342801513
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       1.1102230246251565e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "layer_bottom_1",
+     "cat_name": "layer_bottom",
+     "inst_id": 1,
+     "noun": "layer bottom",
+     "color": "gray",
+     "size": "small",
+     "material": null,
+     "category": "garment",
+     "pos": [
+      4.147852176686944,
+      0.7566189999659564,
+      0.48999998457291627
+     ],
+     "bbox": {
+      "extent": [
+       0.30000506852359354,
+       0.29999244213105714,
+       4.377691260604166e-07
+      ],
+      "center": [
+       1.200000305260931,
+       -1.800000473856927,
+       0.5399999936620914
+      ]
+     }
+    },
+    {
+     "id": "layer_top_1",
+     "cat_name": "layer_top",
+     "inst_id": 1,
+     "noun": "layer top",
+     "color": "orange",
+     "size": "small",
+     "material": null,
+     "category": "garment",
+     "pos": [
+      4.088989701514849,
+      0.744988893719405,
+      0.4900001034996846
+     ],
+     "bbox": {
+      "extent": [
+       0.30000126234123936,
+       0.30000162124635454,
+       4.973743975567047e-07
+      ],
+      "center": [
+       1.1399999239615037,
+       -1.7999996989965439,
+       0.5400000830690463
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_b_1",
+     "relation": "left_of",
+     "object": "table_a_1"
+    },
+    {
+     "subject": "layer_bottom_1",
+     "relation": "in_front_of",
+     "object": "layer_top_1"
+    },
+    {
+     "subject": "layer_top_1",
+     "relation": "behind",
+     "object": "layer_bottom_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": [
+      2.834183069777195,
+      2.3318495043369825,
+      -0.09499998045327437
+     ],
+     "viewpoint": "front-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": [
+      2.6803572373171676,
+      2.301454538274845,
+      -0.019999980074007686
+     ],
+     "viewpoint": "front-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": [
+       -3.0160873015003644,
+       -1.7383077565134895,
+       0.05
+      ],
+      "ori": [
+       0.9952173829078674,
+       0.0,
+       0.0,
+       -0.09768513590097427
+      ]
+     },
+     "facing_yaw_deg": -11.21177177724048,
+     "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 gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[table b]        [layer bottom]\n                    [layer top]\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationLayer",
+   "instruction": "Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Stationlayer the object.",
+   "task_id": "N009",
+   "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
+}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 17:38:23"
+    },
+    "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": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/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 sha256:1baecc80fb963f9c493a2d18734e419373be83f5504621432fdc4a62f9e42d59
+size 61981190

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/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:fea84810ac3426bdf80846cb6ff846a76b781496851fa6559d164b44b1d79811
+size 71351957

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/run_meta.json

@@ -0,0 +1,750 @@
+{
+    "run_id": "stationlayer/000",
+    "created": "2026-11-08 17:23:14",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n009_saw_on_6038/out/record",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 20
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                },
+                "physx": {
+                    "gpu_collision_stack_size": 33554432,
+                    "gpu_heap_capacity": 268435456
+                },
+                "seed": 6038
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.5,
+                                -2.3,
+                                0.05
+                            ],
+                            [
+                                -2.9000000000000004,
+                                -1.7,
+                                0.05
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                -20.0
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                20.0
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": -2.32,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.35,
+                                "scan_min_z": 0.12,
+                                "scan_max_z": 1.65,
+                                "goal_pos_threshold": 0.05,
+                                "goal_yaw_threshold": 0.05,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            },
+            "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": {
+                    "table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                -1.8,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.9,
+                                0.5
+                            ]
+                        },
+                        "table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.2,
+                                2.0,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.5
+                            ]
+                        },
+                        "table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "layer_bottom": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "scale": [
+                                0.8571428571428572,
+                                1.0,
+                                0.5
+                            ]
+                        },
+                        "layer_bottom_1": {
+                            "pos": [
+                                1.2,
+                                -1.8,
+                                0.536
+                            ],
+                            "ori": [
+                                90.0,
+                                0.0,
+                                0.0
+                            ],
+                            "visual": {
+                                "color": [
+                                    [
+                                        0.2,
+                                        0.45,
+                                        0.85
+                                    ]
+                                ]
+                            },
+                            "physics": {
+                                "type": "garment",
+                                "ratio": 1.0,
+                                "particle_system": {
+                                    "particle_system_enabled": true,
+                                    "enable_ccd": true,
+                                    "solver_position_iteration_count": 32,
+                                    "global_self_collision_enabled": true,
+                                    "non_particle_collision_enabled": true,
+                                    "contact_offset": 0.012,
+                                    "rest_offset": 0.01,
+                                    "particle_contact_offset": 0.005,
+                                    "fluid_rest_offset": 0.0025,
+                                    "solid_rest_offset": 0.0025,
+                                    "max_velocity": 5.0
+                                },
+                                "particle_material": {
+                                    "adhesion": 0.1,
+                                    "particle_adhesion_scale": 0.2,
+                                    "particle_friction_scale": 0.6,
+                                    "friction": 1.0,
+                                    "damping": 0.05,
+                                    "gravity_scale": 1.0
+                                },
+                                "garment_config": {
+                                    "particle_mass": 0.001,
+                                    "self_collision": true,
+                                    "self_collision_filter": true,
+                                    "stretch_stiffness": 100000000.0,
+                                    "bend_stiffness": 5000.0,
+                                    "shear_stiffness": 5000.0,
+                                    "spring_damping": 10.0
+                                }
+                            }
+                        }
+                    },
+                    "layer_top": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "scale": [
+                                0.8571428571428572,
+                                1.0,
+                                0.5
+                            ]
+                        },
+                        "layer_top_1": {
+                            "pos": [
+                                1.14,
+                                -1.8,
+                                0.55
+                            ],
+                            "ori": [
+                                90.0,
+                                0.0,
+                                0.0
+                            ],
+                            "visual": {
+                                "color": [
+                                    [
+                                        0.95,
+                                        0.55,
+                                        0.15
+                                    ]
+                                ]
+                            },
+                            "physics": {
+                                "type": "garment",
+                                "ratio": 1.0,
+                                "particle_system": {
+                                    "particle_system_enabled": true,
+                                    "enable_ccd": true,
+                                    "solver_position_iteration_count": 32,
+                                    "global_self_collision_enabled": true,
+                                    "non_particle_collision_enabled": true,
+                                    "contact_offset": 0.012,
+                                    "rest_offset": 0.01,
+                                    "particle_contact_offset": 0.005,
+                                    "fluid_rest_offset": 0.0025,
+                                    "solid_rest_offset": 0.0025,
+                                    "max_velocity": 5.0
+                                },
+                                "particle_material": {
+                                    "adhesion": 0.1,
+                                    "particle_adhesion_scale": 0.2,
+                                    "particle_friction_scale": 0.6,
+                                    "friction": 1.0,
+                                    "damping": 0.05,
+                                    "gravity_scale": 1.0
+                                },
+                                "garment_config": {
+                                    "particle_mass": 0.001,
+                                    "self_collision": true,
+                                    "self_collision_filter": true,
+                                    "stretch_stiffness": 100000000.0,
+                                    "bend_stiffness": 5000.0,
+                                    "shear_stiffness": 5000.0,
+                                    "spring_damping": 10.0
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 16000,
+                "success_hold_frames": 3
+            },
+            "station": {
+                "level": "easy",
+                "agent_id": "a02",
+                "embodiment": "sawyer_umi",
+                "task_version": "EXT60-MobileAvatar-v3",
+                "execution_mode": "expert_collect",
+                "layout": {
+                    "table_h": 0.5,
+                    "standoff": 0.55
+                },
+                "settle_ticks": 80,
+                "hold_ticks": 10,
+                "judge_timeout_ticks": 300,
+                "default_avoid": [],
+                "report_jsonl": "/mnt/scratch/sz850_atomic/n009_saw_on_6038/out/reports.jsonl",
+                "carried": {
+                    "type": "garment",
+                    "name": "layer_top",
+                    "id": 0
+                },
+                "tracked": [
+                    {
+                        "type": "garment",
+                        "name": "layer_bottom",
+                        "id": 0
+                    }
+                ],
+                "cloth": {
+                    "category": "layer_top"
+                },
+                "layers": {},
+                "planner_seeds": "lean",
+                "cloth_variant": null,
+                "record_scene_streams": true
+            },
+            "command": {
+                "StationLayer": {
+                    "robot_id": 0,
+                    "init_limit": 100,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "direction": [
+                        -1.0,
+                        0.0
+                    ],
+                    "stages": {
+                        "release_height": 0.01,
+                        "settle_ticks": 240
+                    }
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "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,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 100,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "RetractMoveL": {
+                    "translation_threshold": 0.02,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "base_waypoint_max_steps": 20,
+                    "arm_waypoint_max_steps": 8,
+                    "move_strategy_distance_threshold": 0.1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "StationNav": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "obstacle_avoid_paths": [],
+                    "obstacle_ignore_paths": [],
+                    "close_value": 1.0,
+                    "open_value": 0.0,
+                    "hold_steps": 10
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.1,
+                    "retrieval_offset": 0.1,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "reactive": false,
+                    "viz_grasp": false
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": null
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n009_saw_on_6038/out/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "StationLayer": {
+                    "robot_id": 0,
+                    "init_limit": 100,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "direction": [
+                        -1.0,
+                        0.0
+                    ],
+                    "stages": {
+                        "release_height": 0.01,
+                        "settle_ticks": 240
+                    }
+                }
+            }
+        },
+        "env_string": "LayerEnv-V0",
+        "visual_dr": {
+            "keep": [
+                "layer_top",
+                "layer_bottom"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe81b288bbd4b08d8e5f46b30e5561ab39bd22f703f6f8670abeefac0d941409
+size 466712

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1841e825e4df95dc9295b28ea7467a7a1dc1e9a76039179525c58ecab3d0eb
+size 51250260

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 17:38:42"
+    },
+    "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": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/sawyer_umi/dr_on/seed_6038/record/stationlayer/000/visual_dr.json

@@ -0,0 +1,674 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "layer_top",
+   "layer_bottom"
+  ],
+  "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": 6038,
+   "seeds": {
+    "0": 6038
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 13992.224152,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7439.475664,
+     "rotate_deg": [
+      3.906,
+      0.905,
+      -2.81
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1201.326475,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4049.9348,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      126.121
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.726325,
+       0.76619,
+       0.793135
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8976,
+      0.9001,
+      0.9298
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.618981,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Asphalt_Fine.mdl",
+     "material": "/MmbVdrLooks/Ground_Asphalt_Fine",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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": {
+    "layer_top": 1,
+    "layer_bottom": 1
+   },
+   "physics_skip": {
+    "physics_binding": 2,
+    "rigid_body": 95,
+    "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/MagicSim4_1794119998-4096_1794119993-4096_/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": 6038,
+   "seeds": {
+    "0": 6038
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 13992.224152,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7439.475664,
+     "rotate_deg": [
+      3.906,
+      0.905,
+      -2.81
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1201.326475,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4049.9348,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      126.121
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.726325,
+       0.76619,
+       0.793135
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8976,
+      0.9001,
+      0.9298
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.618981,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Asphalt_Fine.mdl",
+     "material": "/MmbVdrLooks/Ground_Asphalt_Fine",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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": {
+    "layer_top": 1,
+    "layer_bottom": 1
+   },
+   "physics_skip": {
+    "physics_binding": 3,
+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/CubeGrasp/env0/cube_0",
+      "physics_binding"
+     ],
+     [
+      "/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"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-4096_/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
+    }
+   ]
+  }
+ ]
+}

N009/sawyer_umi/dr_on/seed_6038/report.json

@@ -0,0 +1,3669 @@
+{
+ "task": "n009",
+ "robot": "sawyer_umi",
+ "level": "easy",
+ "dr": "on",
+ "seed": 6038,
+ "steps": 4420,
+ "summary": {
+  "episodes": 1,
+  "full_success": 1,
+  "fail_classes": {},
+  "wall_s": 904.6
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
+  "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+  "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+  "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
+ ],
+ "episodes": [
+  {
+   "spawn_pose": [
+    -3.0160868167877197,
+    -1.7383079528808594,
+    -0.1956822651261302
+   ],
+   "base_path": [
+    [
+     1,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     10,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     20,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     30,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     40,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     50,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     60,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     70,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     80,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     90,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     100,
+     -3.0160868167877197,
+     -1.7383079528808594,
+     -0.1956822651261302
+    ],
+    [
+     110,
+     -2.9961163997650146,
+     -1.7400448322296143,
+     -0.16269062366422601
+    ],
+    [
+     120,
+     -2.94205379486084,
+     -1.747269630432129,
+     -0.10661001044303736
+    ],
+    [
+     130,
+     -2.8821780681610107,
+     -1.7511845827102661,
+     -0.06926388836304473
+    ],
+    [
+     140,
+     -2.8221652507781982,
+     -1.7526212930679321,
+     -0.044438307554600806
+    ],
+    [
+     150,
+     -2.762104034423828,
+     -1.7519868612289429,
+     -0.027944044199834383
+    ],
+    [
+     160,
+     -2.7020680904388428,
+     -1.7510355710983276,
+     -0.016979229196167085
+    ],
+    [
+     170,
+     -2.64204740524292,
+     -1.7498738765716553,
+     -0.009689873793175735
+    ],
+    [
+     180,
+     -2.582037925720215,
+     -1.7485722303390503,
+     -0.004846323871545437
+    ],
+    [
+     190,
+     -2.5220277309417725,
+     -1.7471789121627808,
+     -0.001626220405706553
+    ],
+    [
+     200,
+     -2.462006092071533,
+     -1.7457270622253418,
+     0.0005182019587406153
+    ],
+    [
+     210,
+     -2.4019768238067627,
+     -1.7442357540130615,
+     0.0019431193012405111
+    ],
+    [
+     220,
+     -2.341989517211914,
+     -1.7427095174789429,
+     0.002887188789738064
+    ],
+    [
+     230,
+     -2.2820262908935547,
+     -1.7411590814590454,
+     0.003514864191608886
+    ],
+    [
+     240,
+     -2.2220606803894043,
+     -1.7395967245101929,
+     0.003932861018114225
+    ],
+    [
+     250,
+     -2.1620936393737793,
+     -1.7380276918411255,
+     0.004211149913991322
+    ],
+    [
+     260,
+     -2.1021268367767334,
+     -1.7364585399627686,
+     0.004396167318027054
+    ],
+    [
+     270,
+     -2.0421595573425293,
+     -1.7348889112472534,
+     0.004520036247839067
+    ],
+    [
+     280,
+     -1.982142686843872,
+     -1.734963059425354,
+     0.0045995468591965615
+    ],
+    [
+     290,
+     -1.9221241474151611,
+     -1.7350959777832031,
+     0.004652617018016622
+    ],
+    [
+     300,
+     -1.8621057271957397,
+     -1.7352287769317627,
+     0.0046908681972477355
+    ],
+    [
+     310,
+     -1.8020834922790527,
+     -1.7349082231521606,
+     0.004717200805480245
+    ],
+    [
+     320,
+     -1.742042064666748,
+     -1.73344886302948,
+     0.004730581079747678
+    ],
+    [
+     330,
+     -1.6820197105407715,
+     -1.7335628271102905,
+     0.004739889622777923
+    ],
+    [
+     340,
+     -1.621997594833374,
+     -1.7336771488189697,
+     0.004739889622777923
+    ],
+    [
+     350,
+     -1.5619752407073975,
+     -1.7337911128997803,
+     0.004739889622777923
+    ],
+    [
+     360,
+     -1.501953125,
+     -1.7336277961730957,
+     0.004745952981286652
+    ],
+    [
+     370,
+     -1.441911220550537,
+     -1.7320736646652222,
+     0.004745952981286652
+    ],
+    [
+     380,
+     -1.3818906545639038,
+     -1.7321306467056274,
+     0.00474137414677998
+    ],
+    [
+     390,
+     -1.3218683004379272,
+     -1.732244849205017,
+     0.00474137414677998
+    ],
+    [
+     400,
+     -1.2618460655212402,
+     -1.7323589324951172,
+     0.00474137414677998
+    ],
+    [
+     410,
+     -1.2018239498138428,
+     -1.7321956157684326,
+     0.004747437605545515
+    ],
+    [
+     420,
+     -1.1417821645736694,
+     -1.730641484260559,
+     0.004747437605545515
+    ],
+    [
+     430,
+     -1.081761360168457,
+     -1.7306983470916748,
+     0.004743005353668309
+    ],
+    [
+     440,
+     -1.02173912525177,
+     -1.730812668800354,
+     0.004743005353668309
+    ],
+    [
+     450,
+     -0.9617170095443726,
+     -1.7309266328811646,
+     0.004743005353668309
+    ],
+    [
+     460,
+     -0.9016953706741333,
+     -1.73076331615448,
+     0.004748624572943857
+    ],
+    [
+     470,
+     -0.8416534662246704,
+     -1.7292089462280273,
+     0.004748624572943857
+    ],
+    [
+     480,
+     -0.7816314101219177,
+     -1.7292662858963013,
+     0.004744023752027877
+    ],
+    [
+     490,
+     -0.7216092348098755,
+     -1.7293803691864014,
+     0.004744023752027877
+    ],
+    [
+     500,
+     -0.6615870594978333,
+     -1.729494571685791,
+     0.004744023752027877
+    ],
+    [
+     510,
+     -0.601565420627594,
+     -1.7293312549591064,
+     0.004750109562752138
+    ],
+    [
+     520,
+     -0.5415235161781311,
+     -1.7277768850326538,
+     0.004750109562752138
+    ],
+    [
+     530,
+     -0.481503427028656,
+     -1.72784423828125,
+     0.004745593026129941
+    ],
+    [
+     540,
+     -0.4214886724948883,
+     -1.7279956340789795,
+     0.004745593026129941
+    ],
+    [
+     550,
+     -0.3614736795425415,
+     -1.728147029876709,
+     0.004745593026129941
+    ],
+    [
+     560,
+     -0.30145275592803955,
+     -1.7276724576950073,
+     0.004751211780019434
+    ],
+    [
+     570,
+     -0.24141564965248108,
+     -1.7263987064361572,
+     0.004746695343467331
+    ],
+    [
+     580,
+     -0.18140089511871338,
+     -1.7265501022338867,
+     0.004746695343467331
+    ],
+    [
+     590,
+     -0.12138589471578598,
+     -1.7267017364501953,
+     0.004746695343467331
+    ],
+    [
+     600,
+     -0.06137114018201828,
+     -1.7268532514572144,
+     0.004746695343467331
+    ],
+    [
+     610,
+     -0.0012207403779029846,
+     -1.7316346168518066,
+     0.0047200641488188665
+    ],
+    [
+     620,
+     0.05479981750249863,
+     -1.7423324584960938,
+     0.004734714743428806
+    ],
+    [
+     630,
+     0.1018901839852333,
+     -1.751371145248413,
+     0.004740716169235169
+    ],
+    [
+     640,
+     0.1415465623140335,
+     -1.7589044570922852,
+     0.00474641910691604
+    ],
+    [
+     650,
+     0.1748298853635788,
+     -1.765454888343811,
+     0.004751869291966272
+    ],
+    [
+     660,
+     0.2031857669353485,
+     -1.7709414958953857,
+     0.004751869291966272
+    ],
+    [
+     670,
+     0.22692152857780457,
+     -1.7752876281738281,
+     0.004756914718238026
+    ],
+    [
+     680,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     690,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     700,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     710,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     720,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     730,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.0047631913495071706
+    ],
+    [
+     740,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004763848861435274
+    ],
+    [
+     750,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762449087456787
+    ],
+    [
+     760,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762449087456787
+    ],
+    [
+     770,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762449087456787
+    ],
+    [
+     780,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762449087456787
+    ],
+    [
+     790,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004761643961304044
+    ],
+    [
+     800,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.0047597775959885595
+    ],
+    [
+     810,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.0047571899233056535
+    ],
+    [
+     820,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004755728216523078
+    ],
+    [
+     830,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004754540783484752
+    ],
+    [
+     840,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004757954537045899
+    ],
+    [
+     850,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004756914718238026
+    ],
+    [
+     860,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.0047553677956717975
+    ],
+    [
+     870,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004753883271542087
+    ],
+    [
+     880,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.00475314054381525
+    ],
+    [
+     890,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004752314462943859
+    ],
+    [
+     900,
+     0.23856042325496674,
+     -1.77744460105896,
+     0.004751571735214253
+    ],
+    [
+     910,
+     0.23856042325496674,
+     -1.77744460105896,
+     0.004750744723019746
+    ],
+    [
+     920,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004749663825568643
+    ],
+    [
+     930,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004749663825568643
+    ],
+    [
+     940,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004749663825568643
+    ],
+    [
+     950,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004749663825568643
+    ],
+    [
+     960,
+     0.23856042325496674,
+     -1.77744460105896,
+     0.004751211780019434
+    ],
+    [
+     970,
+     0.23856042325496674,
+     -1.77744460105896,
+     0.004751211780019434
+    ],
+    [
+     980,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.00475314054381525
+    ],
+    [
+     990,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004753883271542087
+    ],
+    [
+     1000,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004755728216523078
+    ],
+    [
+     1010,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004756385728462857
+    ],
+    [
+     1020,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004758674913083702
+    ],
+    [
+     1030,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004759417640800763
+    ],
+    [
+     1040,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     1050,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004762724292520792
+    ],
+    [
+     1060,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004767240728900704
+    ],
+    [
+     1070,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004767240728900704
+    ],
+    [
+     1080,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004771757165231996
+    ],
+    [
+     1090,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004771397210054476
+    ],
+    [
+     1100,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004775828430562442
+    ],
+    [
+     1110,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004779963025611605
+    ],
+    [
+     1120,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004785665963439264
+    ],
+    [
+     1130,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004782718801408375
+    ],
+    [
+     1140,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.00478483913177358
+    ],
+    [
+     1150,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004788253170286349
+    ],
+    [
+     1160,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790097649456069
+    ],
+    [
+     1170,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004786048270283588
+    ],
+    [
+     1180,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787150953116412
+    ],
+    [
+     1190,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.00479194259427761
+    ],
+    [
+     1200,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1210,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004791306502752476
+    ],
+    [
+     1220,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.00479166692357284
+    ],
+    [
+     1230,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004791306502752476
+    ],
+    [
+     1240,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1250,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004789821978750079
+    ],
+    [
+     1260,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.0047886359427882835
+    ],
+    [
+     1270,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787977499579145
+    ],
+    [
+     1280,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004786430577127561
+    ],
+    [
+     1290,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004785306008273703
+    ],
+    [
+     1300,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004783736734133038
+    ],
+    [
+     1310,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004782718801408375
+    ],
+    [
+     1320,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004785306008273703
+    ],
+    [
+     1330,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787532794299399
+    ],
+    [
+     1340,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787150953116412
+    ],
+    [
+     1350,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004783736734133038
+    ],
+    [
+     1360,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004783461529082834
+    ],
+    [
+     1370,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004785306008273703
+    ],
+    [
+     1380,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.0047845632806025225
+    ],
+    [
+     1390,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787532794299399
+    ],
+    [
+     1400,
+     0.23856046795845032,
+     -1.77744460105896,
+     0.004781892435572483
+    ],
+    [
+     1410,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004779963025611605
+    ],
+    [
+     1420,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1430,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1440,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1450,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1460,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1470,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1480,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1490,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1500,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1510,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1520,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1530,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1540,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1550,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1560,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1570,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1580,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1590,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1600,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1610,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1620,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1630,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1640,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1650,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1660,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1670,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1680,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790479956296334
+    ],
+    [
+     1690,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790097649456069
+    ],
+    [
+     1700,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.00479544109764851
+    ],
+    [
+     1710,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.0047946140855405885
+    ],
+    [
+     1720,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004793871357885961
+    ],
+    [
+     1730,
+     0.23856046795845032,
+     -1.77744460105896,
+     0.004793129741517391
+    ],
+    [
+     1740,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004792324435456214
+    ],
+    [
+     1750,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004791306502752476
+    ],
+    [
+     1760,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004790097649456069
+    ],
+    [
+     1770,
+     0.23856046795845032,
+     -1.77744460105896,
+     0.004789355567645775
+    ],
+    [
+     1780,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004787532794299399
+    ],
+    [
+     1790,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004785306008273703
+    ],
+    [
+     1800,
+     0.23856043815612793,
+     -1.77744460105896,
+     0.004782189811665757
+    ],
+    [
+     1810,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004779242649610369
+    ],
+    [
+     1820,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1830,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1840,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1850,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1860,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1870,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1880,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1890,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1900,
+     0.23856045305728912,
+     -1.77744460105896,
+     0.004778140432416681
+    ],
+    [
+     1910,
+     0.23869700729846954,
+     -1.7763667106628418,
+     0.1640937873316536
+    ],
+    [
+     1920,
+     0.23869651556015015,
+     -1.776369333267212,
+     0.3241015217147144
+    ],
+    [
+     1930,
+     0.2386886030435562,
+     -1.7764091491699219,
+     0.48408967055382907
+    ],
+    [
+     1940,
+     0.23867474496364594,
+     -1.7764791250228882,
+     0.6440784804664146
+    ],
+    [
+     1950,
+     0.23865990340709686,
+     -1.776553988456726,
+     0.8040669831842205
+    ],
+    [
+     1960,
+     0.23864507675170898,
+     -1.7766287326812744,
+     0.9641277987680563
+    ],
+    [
+     1970,
+     0.23863022029399872,
+     -1.7767035961151123,
+     1.1241884252432017
+    ],
+    [
+     1980,
+     0.23861540853977203,
+     -1.7767784595489502,
+     1.284248386646097
+    ],
+    [
+     1990,
+     0.23860058188438416,
+     -1.776853322982788,
+     1.444308142827738
+    ],
+    [
+     2000,
+     0.23858574032783508,
+     -1.776928186416626,
+     1.6043678679462534
+    ],
+    [
+     2010,
+     0.23857088387012482,
+     -1.7770030498504639,
+     1.7644283042231643
+    ],
+    [
+     2020,
+     0.23855604231357574,
+     -1.7770779132843018,
+     1.9243769870341962
+    ],
+    [
+     2030,
+     0.23854123055934906,
+     -1.7771525382995605,
+     2.084289157419704
+    ],
+    [
+     2040,
+     0.2385263890028,
+     -1.777227520942688,
+     2.2442012069775368
+    ],
+    [
+     2050,
+     0.2385125458240509,
+     -1.7772973775863647,
+     2.4041132089218284
+    ],
+    [
+     2060,
+     0.23855066299438477,
+     -1.7772789001464844,
+     2.555929303429016
+    ],
+    [
+     2070,
+     0.22978657484054565,
+     -1.7717807292938232,
+     2.688997191391352
+    ],
+    [
+     2080,
+     0.18810608983039856,
+     -1.7579355239868164,
+     2.7912938814031256
+    ],
+    [
+     2090,
+     0.14180168509483337,
+     -1.755723476409912,
+     2.8592946100987566
+    ],
+    [
+     2100,
+     0.10267558693885803,
+     -1.7569704055786133,
+     2.904436404657858
+    ],
+    [
+     2110,
+     0.07014240324497223,
+     -1.7603023052215576,
+     2.934468665240408
+    ],
+    [
+     2120,
+     0.04275164753198624,
+     -1.7649774551391602,
+     2.9544291418135
+    ],
+    [
+     2130,
+     0.019629009068012238,
+     -1.7697864770889282,
+     2.9677040861422865
+    ],
+    [
+     2140,
+     5.391240119934082e-05,
+     -1.7743752002716064,
+     2.9764943437821185
+    ],
+    [
+     2150,
+     -0.016275905072689056,
+     -1.7780177593231201,
+     2.9823538571857022
+    ],
+    [
+     2160,
+     -0.03035050630569458,
+     -1.7818422317504883,
+     2.986230388936713
+    ],
+    [
+     2170,
+     -0.04176756739616394,
+     -1.784597635269165,
+     2.9888157542577187
+    ],
+    [
+     2180,
+     -0.051663681864738464,
+     -1.7873656749725342,
+     2.990525026632306
+    ],
+    [
+     2190,
+     -0.052309900522232056,
+     -1.7868952751159668,
+     2.8311872481304468
+    ],
+    [
+     2200,
+     -0.05230989307165146,
+     -1.7868952751159668,
+     2.6712755009632545
+    ],
+    [
+     2210,
+     -0.05231105163693428,
+     -1.7869011163711548,
+     2.511363198198359
+    ],
+    [
+     2220,
+     -0.05232008546590805,
+     -1.7869467735290527,
+     2.3514506531615873
+    ],
+    [
+     2230,
+     -0.052334513515233994,
+     -1.7870194911956787,
+     2.191538896943252
+    ],
+    [
+     2240,
+     -0.05234935134649277,
+     -1.7870943546295166,
+     2.0316269636465734
+    ],
+    [
+     2250,
+     -0.05236418545246124,
+     -1.7871692180633545,
+     1.8717148940361736
+    ],
+    [
+     2260,
+     -0.05237901955842972,
+     -1.7872440814971924,
+     1.7117140517668363
+    ],
+    [
+     2270,
+     -0.05239385366439819,
+     -1.7873189449310303,
+     1.5516495630620157
+    ],
+    [
+     2280,
+     -0.05240868031978607,
+     -1.7873938083648682,
+     1.3915849787661652
+    ],
+    [
+     2290,
+     -0.05242350697517395,
+     -1.7874685525894165,
+     1.231520058675789
+    ],
+    [
+     2300,
+     -0.05243835970759392,
+     -1.7875432968139648,
+     1.0714550666251494
+    ],
+    [
+     2310,
+     -0.05245319381356239,
+     -1.7876181602478027,
+     0.9113906357062229
+    ],
+    [
+     2320,
+     -0.05246802419424057,
+     -1.7876930236816406,
+     0.7513511046393528
+    ],
+    [
+     2330,
+     -0.05248283967375755,
+     -1.7877678871154785,
+     0.591362758250302
+    ],
+    [
+     2340,
+     -0.052529849112033844,
+     -1.7877548933029175,
+     0.43926149104937173
+    ],
+    [
+     2350,
+     -0.05253780633211136,
+     -1.7876815795898438,
+     0.3238953019115757
+    ],
+    [
+     2360,
+     -0.052525781095027924,
+     -1.7876207828521729,
+     0.23882857979550426
+    ],
+    [
+     2370,
+     -0.05251699686050415,
+     -1.78757643699646,
+     0.1761048357043664
+    ],
+    [
+     2380,
+     -0.05251029133796692,
+     -1.7875428199768066,
+     0.12985605152833052
+    ],
+    [
+     2390,
+     -0.05237659066915512,
+     -1.7860229015350342,
+     0.22894314456489134
+    ],
+    [
+     2400,
+     -0.052378177642822266,
+     -1.7860307693481445,
+     0.3889455412944067
+    ],
+    [
+     2410,
+     -0.052388325333595276,
+     -1.7860820293426514,
+     0.5489341343114666
+    ],
+    [
+     2420,
+     -0.052403055131435394,
+     -1.786156415939331,
+     0.7089222796162274
+    ],
+    [
+     2430,
+     -0.052417900413274765,
+     -1.786231279373169,
+     0.8688490921281635
+    ],
+    [
+     2440,
+     -0.05223524570465088,
+     -1.7861437797546387,
+     1.0049931458230394
+    ],
+    [
+     2450,
+     -0.03965379670262337,
+     -1.7649060487747192,
+     1.1301285580211788
+    ],
+    [
+     2460,
+     -0.018387015908956528,
+     -1.712813138961792,
+     1.2151144350649687
+    ],
+    [
+     2470,
+     -0.0016046296805143356,
+     -1.6551685333251953,
+     1.2716186074821365
+    ],
+    [
+     2480,
+     0.011434877291321754,
+     -1.5964967012405396,
+     1.3091761010243668
+    ],
+    [
+     2490,
+     0.02192717045545578,
+     -1.5372545719146729,
+     1.334144656421785
+    ],
+    [
+     2500,
+     0.03156375139951706,
+     -1.4778833389282227,
+     1.3507435087423634
+    ],
+    [
+     2510,
+     0.040849123150110245,
+     -1.4185121059417725,
+     1.3617475083176238
+    ],
+    [
+     2520,
+     0.04989010468125343,
+     -1.3590928316116333,
+     1.3690875122603658
+    ],
+    [
+     2530,
+     0.05886359512805939,
+     -1.2996965646743774,
+     1.3739561178694788
+    ],
+    [
+     2540,
+     0.06774528324604034,
+     -1.2403231859207153,
+     1.3771911979292664
+    ],
+    [
+     2550,
+     0.0764116495847702,
+     -1.180907130241394,
+     1.379358206779968
+    ],
+    [
+     2560,
+     0.08507781475782394,
+     -1.1214914321899414,
+     1.380777684208407
+    ],
+    [
+     2570,
+     0.09374397248029709,
+     -1.0620753765106201,
+     1.381723566828603
+    ],
+    [
+     2580,
+     0.10359959304332733,
+     -1.0028951168060303,
+     1.3823644420953995
+    ],
+    [
+     2590,
+     0.11406197398900986,
+     -0.943835437297821,
+     1.3827764439321684
+    ],
+    [
+     2600,
+     0.11490073055028915,
+     -0.8837697505950928,
+     1.3830816633251424
+    ],
+    [
+     2610,
+     0.11255985498428345,
+     -0.8306097984313965,
+     1.3832322968818012
+    ],
+    [
+     2620,
+     0.11076608300209045,
+     -0.7859489917755127,
+     1.3833770686836864
+    ],
+    [
+     2630,
+     0.10921832919120789,
+     -0.7482922077178955,
+     1.3834368395071364
+    ],
+    [
+     2640,
+     0.1077459454536438,
+     -0.7164809703826904,
+     1.3834368395071364
+    ],
+    [
+     2650,
+     0.10665011405944824,
+     -0.6895765066146851,
+     1.3834368395071364
+    ],
+    [
+     2660,
+     0.10523656010627747,
+     -0.6669111251831055,
+     1.3834368395071364
+    ],
+    [
+     2670,
+     0.1046275794506073,
+     -0.6480096578598022,
+     1.3834368395071364
+    ],
+    [
+     2680,
+     0.10351231694221497,
+     -0.6316626071929932,
+     1.3834368395071364
+    ],
+    [
+     2690,
+     0.10220122337341309,
+     -0.6178683042526245,
+     1.3834368395071364
+    ],
+    [
+     2700,
+     0.10194474458694458,
+     -0.6066052913665771,
+     1.3834368395071364
+    ],
+    [
+     2710,
+     0.10241228342056274,
+     -0.5986573696136475,
+     1.3360284667626792
+    ],
+    [
+     2720,
+     0.10240437835454941,
+     -0.598697304725647,
+     1.1759948254041663
+    ],
+    [
+     2730,
+     0.10239174216985703,
+     -0.5987610816955566,
+     1.015929976852712
+    ],
+    [
+     2740,
+     0.10238392651081085,
+     -0.598800539970398,
+     0.8558654910431924
+    ],
+    [
+     2750,
+     0.10238175094127655,
+     -0.5988113880157471,
+     0.6958524506460053
+    ],
+    [
+     2760,
+     0.10238176584243774,
+     -0.5988113880157471,
+     0.5358636222394267
+    ],
+    [
+     2770,
+     0.1023264080286026,
+     -0.598743200302124,
+     0.3951877713954506
+    ],
+    [
+     2780,
+     0.10233255475759506,
+     -0.5986822843551636,
+     0.29139864170915064
+    ],
+    [
+     2790,
+     0.1023416668176651,
+     -0.598636269569397,
+     0.2148693495879756
+    ],
+    [
+     2800,
+     0.10234757512807846,
+     -0.5986065864562988,
+     0.1584399758511427
+    ],
+    [
+     2810,
+     0.10234910249710083,
+     -0.598598837852478,
+     0.11683045929310672
+    ],
+    [
+     2820,
+     0.12279778718948364,
+     -0.5959545373916626,
+     0.09728819397848419
+    ],
+    [
+     2830,
+     0.17796964943408966,
+     -0.5905910730361938,
+     0.08504801089105656
+    ],
+    [
+     2840,
+     0.23781302571296692,
+     -0.5866883993148804,
+     0.07690379273391197
+    ],
+    [
+     2850,
+     0.29762691259384155,
+     -0.5831446647644043,
+     0.07149343949166431
+    ],
+    [
+     2860,
+     0.3574133515357971,
+     -0.5797402858734131,
+     0.06788841603506689
+    ],
+    [
+     2870,
+     0.4171977937221527,
+     -0.5763458013534546,
+     0.06549879363815235
+    ],
+    [
+     2880,
+     0.47696900367736816,
+     -0.573016881942749,
+     0.06391128268800465
+    ],
+    [
+     2890,
+     0.5368610620498657,
+     -0.5697996616363525,
+     0.0628544157780152
+    ],
+    [
+     2900,
+     0.596915066242218,
+     -0.5666145086288452,
+     0.0621562534433146
+    ],
+    [
+     2910,
+     0.6569689512252808,
+     -0.5634292364120483,
+     0.061690722496996836
+    ],
+    [
+     2920,
+     0.7170230150222778,
+     -0.5602442026138306,
+     0.06137811837749533
+    ],
+    [
+     2930,
+     0.7770769596099854,
+     -0.5570589303970337,
+     0.06117576614158383
+    ],
+    [
+     2940,
+     0.8371309041976929,
+     -0.5538736581802368,
+     0.06103848537220587
+    ],
+    [
+     2950,
+     0.8971850872039795,
+     -0.550688624382019,
+     0.06094694745084558
+    ],
+    [
+     2960,
+     0.957239031791687,
+     -0.5475035905838013,
+     0.060885934642754096
+    ],
+    [
+     2970,
+     1.0172929763793945,
+     -0.5443181991577148,
+     0.06084771320454057
+    ],
+    [
+     2980,
+     1.0773470401763916,
+     -0.5411331653594971,
+     0.0608095624156627
+    ],
+    [
+     2990,
+     1.1374009847640991,
+     -0.5379481315612793,
+     0.0608095624156627
+    ],
+    [
+     3000,
+     1.1973228454589844,
+     -0.533942699432373,
+     0.06080506836728772
+    ],
+    [
+     3010,
+     1.2571604251861572,
+     -0.5294907093048096,
+     0.06079836221930816
+    ],
+    [
+     3020,
+     1.317108154296875,
+     -0.5264400243759155,
+     0.06079836221930816
+    ],
+    [
+     3030,
+     1.376833200454712,
+     -0.5233452320098877,
+     0.06079836221930816
+    ],
+    [
+     3040,
+     1.4367246627807617,
+     -0.5194110870361328,
+     0.060801758114513715
+    ],
+    [
+     3050,
+     1.496712565422058,
+     -0.5149891376495361,
+     0.06079533133404151
+    ],
+    [
+     3060,
+     1.556437373161316,
+     -0.5118944644927979,
+     0.06079533133404151
+    ],
+    [
+     3070,
+     1.616162657737732,
+     -0.5087993144989014,
+     0.06079533133404151
+    ],
+    [
+     3080,
+     1.676053762435913,
+     -0.5048651695251465,
+     0.06079871968197789
+    ],
+    [
+     3090,
+     1.7360774278640747,
+     -0.5002634525299072,
+     0.060792382468010255
+    ],
+    [
+     3100,
+     1.7959343194961548,
+     -0.4978675842285156,
+     0.060780355538974686
+    ],
+    [
+     3110,
+     1.8562963008880615,
+     -0.5026340484619141,
+     0.06075902371013628
+    ],
+    [
+     3120,
+     1.9111539125442505,
+     -0.5097105503082275,
+     0.060764262775141804
+    ],
+    [
+     3130,
+     1.9573149681091309,
+     -0.5157957077026367,
+     0.060769140448958356
+    ],
+    [
+     3140,
+     1.9961788654327393,
+     -0.5207259654998779,
+     0.060769140448958356
+    ],
+    [
+     3150,
+     2.029090404510498,
+     -0.5248734951019287,
+     0.06077392885923254
+    ],
+    [
+     3160,
+     2.056678295135498,
+     -0.5287420749664307,
+     0.06077392885923254
+    ],
+    [
+     3170,
+     2.0799765586853027,
+     -0.531181812286377,
+     0.06077805085174835
+    ],
+    [
+     3180,
+     2.099539041519165,
+     -0.5338554382324219,
+     0.06077805085174835
+    ],
+    [
+     3190,
+     2.116011619567871,
+     -0.5367071628570557,
+     0.06077805085174835
+    ],
+    [
+     3200,
+     2.129960775375366,
+     -0.5380914211273193,
+     0.06078255979138753
+    ],
+    [
+     3210,
+     2.1413040161132812,
+     -0.5394630432128906,
+     0.06078255979138753
+    ],
+    [
+     3220,
+     2.1512765884399414,
+     -0.5409247875213623,
+     0.06078255979138753
+    ],
+    [
+     3230,
+     2.152033567428589,
+     -0.5399782657623291,
+     0.2202079427450777
+    ],
+    [
+     3240,
+     2.152033567428589,
+     -0.5399782657623291,
+     0.38019704843202096
+    ],
+    [
+     3250,
+     2.152033567428589,
+     -0.5399782657623291,
+     0.540185530070936
+    ],
+    [
+     3260,
+     2.152033567428589,
+     -0.5399782657623291,
+     0.7001742992696588
+    ],
+    [
+     3270,
+     2.152033567428589,
+     -0.5399782657623291,
+     0.8601876905769009
+    ],
+    [
+     3280,
+     2.152033567428589,
+     -0.5399782657623291,
+     1.0202472054863094
+    ],
+    [
+     3290,
+     2.1520307064056396,
+     -0.5399932861328125,
+     1.1644355743853638
+    ],
+    [
+     3300,
+     2.1520307064056396,
+     -0.5399932861328125,
+     1.2711522935802122
+    ],
+    [
+     3310,
+     2.1520307064056396,
+     -0.5399932861328125,
+     1.3498622558021438
+    ],
+    [
+     3320,
+     2.1520307064056396,
+     -0.5399932861328125,
+     1.4078768430027493
+    ],
+    [
+     3330,
+     2.1520307064056396,
+     -0.5399932861328125,
+     1.450667373366682
+    ],
+    [
+     3340,
+     2.15325927734375,
+     -0.5238723754882812,
+     1.4836491067172084
+    ],
+    [
+     3350,
+     2.1563432216644287,
+     -0.4714713394641876,
+     1.5058118960494633
+    ],
+    [
+     3360,
+     2.159532070159912,
+     -0.4114363193511963,
+     1.5205536804156654
+    ],
+    [
+     3370,
+     2.1614489555358887,
+     -0.3514437973499298,
+     1.5303666521055204
+    ],
+    [
+     3380,
+     2.1622023582458496,
+     -0.29146695137023926,
+     1.5368681716573203
+    ],
+    [
+     3390,
+     2.1628780364990234,
+     -0.23155593872070312,
+     1.5411723302228415
+    ],
+    [
+     3400,
+     2.163553476333618,
+     -0.171644926071167,
+     1.5440115403058357
+    ],
+    [
+     3410,
+     2.164228916168213,
+     -0.11173415184020996,
+     1.5459187598771913
+    ],
+    [
+     3420,
+     2.1649041175842285,
+     -0.05182313919067383,
+     1.5471854499491418
+    ],
+    [
+     3430,
+     2.1655797958374023,
+     0.008088111877441406,
+     1.5480704249729693
+    ],
+    [
+     3440,
+     2.166255235671997,
+     0.06799887865781784,
+     1.548635143857835
+    ],
+    [
+     3450,
+     2.1669301986694336,
+     0.12790989875793457,
+     1.5490166804215793
+    ],
+    [
+     3460,
+     2.1676058769226074,
+     0.1878209114074707,
+     1.5492757298948923
+    ],
+    [
+     3470,
+     2.168281316757202,
+     0.24773192405700684,
+     1.5494286479513621
+    ],
+    [
+     3480,
+     2.168956756591797,
+     0.30764293670654297,
+     1.549581143660954
+    ],
+    [
+     3490,
+     2.1699161529541016,
+     0.3675553798675537,
+     1.5495964842523058
+    ],
+    [
+     3500,
+     2.1724472045898438,
+     0.42740964889526367,
+     1.5495964842523058
+    ],
+    [
+     3510,
+     2.173168659210205,
+     0.48732686042785645,
+     1.549611743235709
+    ],
+    [
+     3520,
+     2.173844337463379,
+     0.5472378730773926,
+     1.549611743235709
+    ],
+    [
+     3530,
+     2.175360679626465,
+     0.607133150100708,
+     1.549611743235709
+    ],
+    [
+     3540,
+     2.1771957874298096,
+     0.6670165061950684,
+     1.5496268318553457
+    ],
+    [
+     3550,
+     2.1783411502838135,
+     0.7269229888916016,
+     1.5496268318553457
+    ],
+    [
+     3560,
+     2.1808719635009766,
+     0.7867777347564697,
+     1.5496268318553457
+    ],
+    [
+     3570,
+     2.1831886768341064,
+     0.844245195388794,
+     1.5496268318553457
+    ],
+    [
+     3580,
+     2.185293436050415,
+     0.8929681777954102,
+     1.5496268318553457
+    ],
+    [
+     3590,
+     2.1871445178985596,
+     0.93398118019104,
+     1.5496268318553457
+    ],
+    [
+     3600,
+     2.188751697540283,
+     0.9684708118438721,
+     1.5496268318553457
+    ],
+    [
+     3610,
+     2.1903016567230225,
+     0.9973788261413574,
+     1.5496268318553457
+    ],
+    [
+     3620,
+     2.1917500495910645,
+     1.0216808319091797,
+     1.5496268318553457
+    ],
+    [
+     3630,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3640,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3650,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3660,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3670,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3680,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496238826333146
+    ],
+    [
+     3690,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496241363925705
+    ],
+    [
+     3700,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496248941010442
+    ],
+    [
+     3710,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496253164382094
+    ],
+    [
+     3720,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496257369908275
+    ],
+    [
+     3730,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496268318553457
+    ],
+    [
+     3740,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496271707956726
+    ],
+    [
+     3750,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496279285042982
+    ],
+    [
+     3760,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3770,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3780,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3790,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3800,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3810,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3820,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3830,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3840,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3850,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3860,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3870,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3880,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3890,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3900,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3910,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3920,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3930,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3940,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3950,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3960,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3970,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3980,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     3990,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4000,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4010,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4020,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4030,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4040,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4050,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4060,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4070,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4080,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4090,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4100,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4110,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4120,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4130,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4140,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4150,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4160,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4170,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4180,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4190,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4200,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4210,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4220,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4230,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4240,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4250,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4260,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4270,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4280,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4290,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4300,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4310,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4320,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4330,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4340,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4350,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4360,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4370,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4380,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4390,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4400,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4410,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ],
+    [
+     4420,
+     2.1931276321411133,
+     1.0352718830108643,
+     1.5496283508413495
+    ]
+   ],
+   "base_path_length_m": 8.401879382142615,
+   "stage_events": [
+    {
+     "tick": 100,
+     "event": "stage",
+     "stage": "nav_A",
+     "goal": [
+      0.34999999999999987,
+      -1.8,
+      0.0
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 599,
+     "event": "enter_A",
+     "path_m": 2.9498340288206184
+    },
+    {
+     "tick": 673,
+     "event": "stage",
+     "stage": "open",
+     "hand": "open"
+    },
+    {
+     "tick": 691,
+     "event": "stage",
+     "stage": "pre_pinch",
+     "mode": 1,
+     "goal": [
+      1.005,
+      -1.7921,
+      0.8665,
+      0.0,
+      -0.7071,
+      0.0,
+      0.7071
+     ]
+    },
+    {
+     "tick": 1425,
+     "event": "stage_end",
+     "stage": "pre_pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.0014452115792590071,
+     "l6": [
+      1.0036,
+      -1.7918,
+      0.8668,
+      -0.051,
+      -0.724,
+      0.0394,
+      0.6868
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.476,
+       2.574
+      ],
+      "right_j1": [
+       -0.82,
+       2.99
+      ],
+      "right_j2": [
+       1.445,
+       1.597
+      ],
+      "right_j3": [
+       -1.17,
+       1.874
+      ],
+      "right_j4": [
+       0.775,
+       2.201
+      ],
+      "right_j5": [
+       -1.81,
+       1.166
+      ],
+      "right_j6": [
+       -3.888,
+       0.824
+      ]
+     }
+    },
+    {
+     "tick": 1425,
+     "event": "stage",
+     "stage": "pinch",
+     "mode": 4,
+     "goal": [
+      1.005,
+      -1.7921,
+      0.7665,
+      0.0,
+      -0.7071,
+      0.0,
+      0.7071
+     ]
+    },
+    {
+     "tick": 1525,
+     "event": "stage_end",
+     "stage": "pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.004828617745864307,
+     "l6": [
+      1.005,
+      -1.7921,
+      0.7713,
+      -0.0023,
+      -0.7079,
+      0.0019,
+      0.7063
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.468,
+       2.583
+      ],
+      "right_j1": [
+       -0.677,
+       2.951
+      ],
+      "right_j2": [
+       1.429,
+       1.614
+      ],
+      "right_j3": [
+       -1.282,
+       1.761
+      ],
+      "right_j4": [
+       0.933,
+       2.043
+      ],
+      "right_j5": [
+       -1.852,
+       1.124
+      ],
+      "right_j6": [
+       -3.923,
+       0.789
+      ]
+     }
+    },
+    {
+     "tick": 1531,
+     "event": "stage",
+     "stage": "close",
+     "hand": "close"
+    },
+    {
+     "tick": 1535,
+     "event": "object_first_moved",
+     "path_m": 3.260505281619815
+    },
+    {
+     "tick": 1540,
+     "event": "attach",
+     "at_tick": 1540,
+     "opening_m": 0.0054107168689370155,
+     "nearest_particle_m": 0.002242739354199951,
+     "bound": true
+    },
+    {
+     "tick": 1559,
+     "event": "stage",
+     "stage": "lift",
+     "mode": 4,
+     "goal": [
+      1.005,
+      -1.7921,
+      0.9466,
+      -0.0,
+      -0.7071,
+      0.0001,
+      0.7071
+     ]
+    },
+    {
+     "tick": 1620,
+     "event": "lifted",
+     "z_gain": 0.030188607758489194
+    },
+    {
+     "tick": 1661,
+     "event": "stage_end",
+     "stage": "lift",
+     "outcome": "finished",
+     "pos_err_m": 0.0059817137602955215,
+     "l6": [
+      1.0042,
+      -1.7921,
+      0.9407,
+      -0.001,
+      -0.7078,
+      0.0006,
+      0.7064
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.411,
+       2.639
+      ],
+      "right_j1": [
+       -0.854,
+       2.955
+      ],
+      "right_j2": [
+       1.363,
+       1.68
+      ],
+      "right_j3": [
+       -0.992,
+       2.052
+      ],
+      "right_j4": [
+       0.857,
+       2.119
+      ],
+      "right_j5": [
+       -2.122,
+       0.854
+      ],
+      "right_j6": [
+       -3.849,
+       0.863
+      ]
+     }
+    },
+    {
+     "tick": 1682,
+     "event": "lift_check",
+     "top_gain": 0.07324485435693884,
+     "bottom_shift": 4.611427127299543e-08,
+     "hang": 0.18076010058230318
+    },
+    {
+     "tick": 1682,
+     "event": "stage",
+     "stage": "carry",
+     "mode": 1,
+     "goal": [
+      0.7382,
+      -1.7667,
+      1.2025,
+      -0.0009,
+      -0.7076,
+      0.0005,
+      0.7066
+     ]
+    },
+    {
+     "tick": 1900,
+     "event": "stage_end",
+     "stage": "carry",
+     "outcome": "finished",
+     "pos_err_m": 0.005969502953785723,
+     "l6": [
+      0.7346,
+      -1.7644,
+      1.1984,
+      0.0012,
+      -0.7143,
+      0.0106,
+      0.6998
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.615,
+       2.436
+      ],
+      "right_j1": [
+       -1.339,
+       2.471
+      ],
+      "right_j2": [
+       1.232,
+       1.81
+      ],
+      "right_j3": [
+       -0.732,
+       2.312
+      ],
+      "right_j4": [
+       0.366,
+       2.61
+      ],
+      "right_j5": [
+       -2.435,
+       0.541
+      ],
+      "right_j6": [
+       -3.961,
+       0.752
+      ]
+     }
+    },
+    {
+     "tick": 1900,
+     "event": "cloth_probe",
+     "tag": "after_carry",
+     "top_centroid": [
+      0.7695,
+      -1.7725,
+      0.851
+     ],
+     "top_z_min": 0.6954,
+     "pinch": [
+      0.739,
+      -1.7753,
+      0.976
+     ],
+     "pinch_quat": [
+      0.0026,
+      -0.7011,
+      0.7129,
+      -0.012
+     ],
+     "top_minus_pinch_xy": [
+      0.0306,
+      0.0028
+     ],
+     "lift_centre_off": [
+      0.0679,
+      -0.0021
+     ],
+     "zone": [
+      2.2,
+      2.0
+     ],
+     "top_to_zone": 4.0346
+    },
+    {
+     "tick": 1900,
+     "event": "stage",
+     "stage": "backoff_A",
+     "goal": [
+      -0.10000000000000014,
+      -1.8,
+      0.0
+     ],
+     "heading": "goal"
+    },
+    {
+     "tick": 1938,
+     "event": "leave_A",
+     "path_m": 3.2615210899340266
+    },
+    {
+     "tick": 2383,
+     "event": "stage",
+     "stage": "via_1",
+     "goal": [
+      0.09999999999999987,
+      -0.55,
+      1.0573552615477678e-16
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 2414,
+     "event": "leave_A",
+     "path_m": 3.5615794597962926
+    },
+    {
+     "tick": 2810,
+     "event": "stage",
+     "stage": "approach_B",
+     "goal": [
+      2.2,
+      -0.5499999999999998,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 3331,
+     "event": "stage",
+     "stage": "nav_B",
+     "goal": [
+      2.2,
+      1.1500000000000001,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 3550,
+     "event": "enter_B",
+     "path_m": 8.093171146916616
+    },
+    {
+     "tick": 3624,
+     "event": "stage",
+     "stage": "pre_place",
+     "mode": 1,
+     "goal": [
+      2.121,
+      1.9981,
+      1.0431,
+      -0.4875,
+      -0.5192,
+      -0.4904,
+      0.5023
+     ]
+    },
+    {
+     "tick": 3901,
+     "event": "stage_end",
+     "stage": "pre_place",
+     "outcome": "finished",
+     "pos_err_m": 0.0055616176592296705,
+     "l6": [
+      2.1206,
+      1.9945,
+      1.0389,
+      -0.4872,
+      -0.5077,
+      -0.4968,
+      0.5081
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.125,
+       2.926
+      ],
+      "right_j1": [
+       -0.899,
+       2.91
+      ],
+      "right_j2": [
+       1.779,
+       1.264
+      ],
+      "right_j3": [
+       -0.232,
+       2.812
+      ],
+      "right_j4": [
+       1.124,
+       1.852
+      ],
+      "right_j5": [
+       -2.386,
+       0.59
+      ],
+      "right_j6": [
+       -3.156,
+       1.557
+      ]
+     }
+    },
+    {
+     "tick": 3901,
+     "event": "cloth_probe",
+     "tag": "after_pre_place",
+     "top_centroid": [
+      2.1286,
+      2.0241,
+      0.6919
+     ],
+     "top_z_min": 0.54,
+     "pinch": [
+      2.1263,
+      1.9963,
+      0.8164
+     ],
+     "pinch_quat": [
+      0.0046,
+      -0.9999,
+      0.0159,
+      0.005
+     ],
+     "top_minus_pinch_xy": [
+      0.0023,
+      0.0278
+     ],
+     "lift_centre_off": [
+      0.0679,
+      -0.0021
+     ],
+     "zone": [
+      2.2,
+      2.0
+     ],
+     "top_to_zone": 0.0754
+    },
+    {
+     "tick": 3901,
+     "event": "stage",
+     "stage": "place",
+     "mode": 4,
+     "goal": [
+      2.1264,
+      2.0003,
+      0.9433,
+      -0.4872,
+      -0.5077,
+      -0.4968,
+      0.5081
+     ]
+    },
+    {
+     "tick": 4002,
+     "event": "stage_end",
+     "stage": "place",
+     "outcome": "finished",
+     "pos_err_m": 0.005317960392087979,
+     "l6": [
+      2.1255,
+      2.0025,
+      0.9481,
+      -0.4846,
+      -0.5045,
+      -0.498,
+      0.5126
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.289,
+       2.761
+      ],
+      "right_j1": [
+       -0.74,
+       3.014
+      ],
+      "right_j2": [
+       1.402,
+       1.64
+      ],
+      "right_j3": [
+       -0.411,
+       2.633
+      ],
+      "right_j4": [
+       1.39,
+       1.586
+      ],
+      "right_j5": [
+       -2.302,
+       0.674
+      ],
+      "right_j6": [
+       -3.202,
+       1.511
+      ]
+     }
+    },
+    {
+     "tick": 4013,
+     "event": "cloth_probe",
+     "tag": "after_place",
+     "top_centroid": [
+      2.1419,
+      2.0435,
+      0.62
+     ],
+     "top_z_min": 0.5399,
+     "pinch": [
+      2.1289,
+      2.0035,
+      0.7235
+     ],
+     "pinch_quat": [
+      0.0027,
+      -0.9998,
+      0.0171,
+      0.0104
+     ],
+     "top_minus_pinch_xy": [
+      0.0131,
+      0.0399
+     ],
+     "lift_centre_off": [
+      0.0679,
+      -0.0021
+     ],
+     "zone": [
+      2.2,
+      2.0
+     ],
+     "top_to_zone": 0.0726
+    },
+    {
+     "tick": 4013,
+     "event": "stage",
+     "stage": "release",
+     "hand": "open"
+    },
+    {
+     "tick": 4013,
+     "event": "release"
+    },
+    {
+     "tick": 4066,
+     "event": "cloth_probe",
+     "tag": "after_release",
+     "top_centroid": [
+      2.1567,
+      2.0428,
+      0.5595
+     ],
+     "top_z_min": 0.5399,
+     "pinch": [
+      2.1302,
+      2.003,
+      0.7214
+     ],
+     "pinch_quat": [
+      0.0038,
+      -0.9998,
+      0.0167,
+      0.0084
+     ],
+     "top_minus_pinch_xy": [
+      0.0265,
+      0.0398
+     ],
+     "lift_centre_off": [
+      0.0679,
+      -0.0021
+     ],
+     "zone": [
+      2.2,
+      2.0
+     ],
+     "top_to_zone": 0.0609
+    },
+    {
+     "tick": 4066,
+     "event": "stage",
+     "stage": "retreat",
+     "mode": 4,
+     "goal": [
+      2.126,
+      2.0016,
+      1.064,
+      -0.4855,
+      -0.5059,
+      -0.4977,
+      0.5106
+     ]
+    },
+    {
+     "tick": 4167,
+     "event": "stage_end",
+     "stage": "retreat",
+     "outcome": "finished",
+     "pos_err_m": 0.00548815753309032,
+     "l6": [
+      2.1262,
+      2.0006,
+      1.0586,
+      0.4857,
+      0.5067,
+      0.4981,
+      -0.5092
+     ],
+     "arm_q_margin": {
+      "right_j0": [
+       0.191,
+       2.859
+      ],
+      "right_j1": [
+       -0.88,
+       2.929
+      ],
+      "right_j2": [
+       1.226,
+       1.817
+      ],
+      "right_j3": [
+       -0.118,
+       2.925
+      ],
+      "right_j4": [
+       1.797,
+       1.179
+      ],
+      "right_j5": [
+       -2.473,
+       0.503
+      ],
+      "right_j6": [
+       -2.929,
+       1.783
+      ]
+     }
+    },
+    {
+     "tick": 4167,
+     "event": "cloth_probe",
+     "tag": "after_retreat",
+     "top_centroid": [
+      2.1561,
+      2.0433,
+      0.5588
+     ],
+     "top_z_min": 0.54,
+     "pinch": [
+      2.1307,
+      2.0026,
+      0.836
+     ],
+     "pinch_quat": [
+      -0.005,
+      0.9998,
+      -0.0161,
+      -0.0075
+     ],
+     "top_minus_pinch_xy": [
+      0.0254,
+      0.0408
+     ],
+     "lift_centre_off": [
+      0.0679,
+      -0.0021
+     ],
+     "zone": [
+      2.2,
+      2.0
+     ],
+     "top_to_zone": 0.0616
+    },
+    {
+     "tick": 4408,
+     "event": "command_complete"
+    }
+   ],
+   "transport_state": "at_B",
+   "transport_history": [
+    [
+     1,
+     "at_A"
+    ],
+    [
+     1620,
+     "carried"
+    ],
+    [
+     4035,
+     "at_B"
+    ]
+   ],
+   "station_transition_order": [
+    "S",
+    "A",
+    "B"
+   ],
+   "interstation_path_lengths": {
+    "A->B": 4.531591687120323
+   },
+   "interstation_net_m": 3.360286125963715,
+   "distance_to_first_interaction": 3.260505281619815,
+   "final_approach_pose": [
+    2.1931276321411133,
+    1.0352718830108643,
+    1.5496283508413495
+   ],
+   "regrasp_events": 0,
+   "violations": [],
+   "mobile_checks": {
+    "stood_in_A": true,
+    "stood_in_B_after_A": true,
+    "object_lifted_at_A": true,
+    "interstation_path_long_enough": true,
+    "carried_over_the_transit": true,
+    "no_violation": true
+   },
+   "mobile_success": true,
+   "task_id": "N009",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a02",
+   "family_id": "C5",
+   "primary_category": "cloth_layer_separation",
+   "level": "easy",
+   "embodiment": "sawyer_umi",
+   "scene_seed": 6038,
+   "execution_mode": "expert_collect",
+   "planner_seeds": "lean",
+   "review_cameras": [],
+   "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
+   ],
+   "station_layout": {
+    "start": [
+     -3.2,
+     -2.0,
+     0.0
+    ],
+    "stands": {
+     "A": [
+      0.34999999999999987,
+      -1.8,
+      0.0
+     ],
+     "B": [
+      2.2,
+      1.1500000000000001,
+      1.5707963267948966
+     ]
+    },
+    "tables": {
+     "A": {
+      "aabb": [
+       0.8999999999999999,
+       -2.25,
+       1.5,
+       -1.35
+      ],
+      "top_z": 0.53
+     },
+     "B": {
+      "aabb": [
+       1.7500000000000002,
+       1.7,
+       2.6500000000000004,
+       2.3
+      ],
+      "top_z": 0.53
+     }
+    },
+    "room": [
+     -4.4,
+     4.4,
+     -3.25,
+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "bottom_shift_m": 1.9655601059075967e-07,
+     "bottom_max_shift_m": 3.045224541784606e-07,
+     "bottom_lift_m": 3.565372885816487e-09,
+     "top_z_over_table_b": 0.028610604188544553,
+     "top_to_zone_m": 0.062482413511679,
+     "hand_to_top_m": 0.24255179646515782,
+     "bridge_active": 0.0
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "attach_bridge",
+   "ticks": 4420,
+   "control_steps": 3966,
+   "attach_events": [
+    {
+     "event": "attach",
+     "at_tick": 1540,
+     "opening_m": 0.0054107168689370155,
+     "nearest_particle_m": 0.002242739354199951,
+     "bound": true
+    },
+    {
+     "event": "release",
+     "at_tick": 4013
+    }
+   ],
+   "ticks_bound_with_open_pads": 0,
+   "bottom_layer_max_shift_m": 3.045224541784606e-07,
+   "bottom_layer_reference": [
+    1.1999998583866687,
+    -1.7999992328659906,
+    0.5400001607169407
+   ],
+   "top_layer_final_centroid": [
+    2.155569046788385,
+    2.043931109648536,
+    0.5586106041885446
+   ],
+   "bottom_layer_final_centroid": [
+    1.1999997783596832,
+    -1.7999994123929994,
+    0.5400001642823136
+   ],
+   "judge_definitions": {
+    "card_bottom_max_shift_m": 0.03,
+    "card_zone_half_width_m": 0.12,
+    "command_min_lift_gain_m": 0.05,
+    "command_min_lift_gain_m_before_n009_p5": 0.1,
+    "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"
+   },
+   "asset_variant": "stock_proxy_two_sheet"
+  }
+ ],
+ "collect": {
+  "task": "N009",
+  "robot": "sawyer_umi",
+  "visual_dr": true,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N009",
+   "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
+   }
+  }
+ }
+}

N009/sawyer_umi/dr_on/seed_6038/reports.jsonl

@@ -0,0 +1 @@
+{"spawn_pose": [-3.0160868167877197, -1.7383079528808594, -0.1956822651261302], "base_path": [[1, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [10, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [20, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [30, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [40, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [50, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [60, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [70, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [80, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [90, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [100, -3.0160868167877197, -1.7383079528808594, -0.1956822651261302], [110, -2.9961163997650146, -1.7400448322296143, -0.16269062366422601], [120, -2.94205379486084, -1.747269630432129, -0.10661001044303736], [130, -2.8821780681610107, -1.7511845827102661, -0.06926388836304473], [140, -2.8221652507781982, -1.7526212930679321, -0.044438307554600806], [150, -2.762104034423828, -1.7519868612289429, -0.027944044199834383], [160, -2.7020680904388428, -1.7510355710983276, -0.016979229196167085], [170, -2.64204740524292, -1.7498738765716553, -0.009689873793175735], [180, -2.582037925720215, -1.7485722303390503, -0.004846323871545437], [190, -2.5220277309417725, -1.7471789121627808, -0.001626220405706553], [200, -2.462006092071533, -1.7457270622253418, 0.0005182019587406153], [210, -2.4019768238067627, -1.7442357540130615, 0.0019431193012405111], [220, -2.341989517211914, -1.7427095174789429, 0.002887188789738064], [230, -2.2820262908935547, -1.7411590814590454, 0.003514864191608886], [240, -2.2220606803894043, -1.7395967245101929, 0.003932861018114225], [250, -2.1620936393737793, -1.7380276918411255, 0.004211149913991322], [260, -2.1021268367767334, -1.7364585399627686, 0.004396167318027054], [270, -2.0421595573425293, -1.7348889112472534, 0.004520036247839067], [280, -1.982142686843872, -1.734963059425354, 0.0045995468591965615], [290, -1.9221241474151611, -1.7350959777832031, 0.004652617018016622], [300, -1.8621057271957397, -1.7352287769317627, 0.0046908681972477355], [310, -1.8020834922790527, -1.7349082231521606, 0.004717200805480245], [320, -1.742042064666748, -1.73344886302948, 0.004730581079747678], [330, -1.6820197105407715, -1.7335628271102905, 0.004739889622777923], [340, -1.621997594833374, -1.7336771488189697, 0.004739889622777923], [350, -1.5619752407073975, -1.7337911128997803, 0.004739889622777923], [360, -1.501953125, -1.7336277961730957, 0.004745952981286652], [370, -1.441911220550537, -1.7320736646652222, 0.004745952981286652], [380, -1.3818906545639038, -1.7321306467056274, 0.00474137414677998], [390, -1.3218683004379272, -1.732244849205017, 0.00474137414677998], [400, -1.2618460655212402, -1.7323589324951172, 0.00474137414677998], [410, -1.2018239498138428, -1.7321956157684326, 0.004747437605545515], [420, -1.1417821645736694, -1.730641484260559, 0.004747437605545515], [430, -1.081761360168457, -1.7306983470916748, 0.004743005353668309], [440, -1.02173912525177, -1.730812668800354, 0.004743005353668309], [450, -0.9617170095443726, -1.7309266328811646, 0.004743005353668309], [460, -0.9016953706741333, -1.73076331615448, 0.004748624572943857], [470, -0.8416534662246704, -1.7292089462280273, 0.004748624572943857], [480, -0.7816314101219177, -1.7292662858963013, 0.004744023752027877], [490, -0.7216092348098755, -1.7293803691864014, 0.004744023752027877], [500, -0.6615870594978333, -1.729494571685791, 0.004744023752027877], [510, -0.601565420627594, -1.7293312549591064, 0.004750109562752138], [520, -0.5415235161781311, -1.7277768850326538, 0.004750109562752138], [530, -0.481503427028656, -1.72784423828125, 0.004745593026129941], [540, -0.4214886724948883, -1.7279956340789795, 0.004745593026129941], [550, -0.3614736795425415, -1.728147029876709, 0.004745593026129941], [560, -0.30145275592803955, -1.7276724576950073, 0.004751211780019434], [570, -0.24141564965248108, -1.7263987064361572, 0.004746695343467331], [580, -0.18140089511871338, -1.7265501022338867, 0.004746695343467331], [590, -0.12138589471578598, -1.7267017364501953, 0.004746695343467331], [600, -0.06137114018201828, -1.7268532514572144, 0.004746695343467331], [610, -0.0012207403779029846, -1.7316346168518066, 0.0047200641488188665], [620, 0.05479981750249863, -1.7423324584960938, 0.004734714743428806], [630, 0.1018901839852333, -1.751371145248413, 0.004740716169235169], [640, 0.1415465623140335, -1.7589044570922852, 0.00474641910691604], [650, 0.1748298853635788, -1.765454888343811, 0.004751869291966272], [660, 0.2031857669353485, -1.7709414958953857, 0.004751869291966272], [670, 0.22692152857780457, -1.7752876281738281, 0.004756914718238026], [680, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [690, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [700, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [710, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [720, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [730, 0.23856045305728912, -1.77744460105896, 0.0047631913495071706], [740, 0.23856045305728912, -1.77744460105896, 0.004763848861435274], [750, 0.23856043815612793, -1.77744460105896, 0.004762449087456787], [760, 0.23856043815612793, -1.77744460105896, 0.004762449087456787], [770, 0.23856043815612793, -1.77744460105896, 0.004762449087456787], [780, 0.23856043815612793, -1.77744460105896, 0.004762449087456787], [790, 0.23856043815612793, -1.77744460105896, 0.004761643961304044], [800, 0.23856043815612793, -1.77744460105896, 0.0047597775959885595], [810, 0.23856043815612793, -1.77744460105896, 0.0047571899233056535], [820, 0.23856043815612793, -1.77744460105896, 0.004755728216523078], [830, 0.23856043815612793, -1.77744460105896, 0.004754540783484752], [840, 0.23856043815612793, -1.77744460105896, 0.004757954537045899], [850, 0.23856043815612793, -1.77744460105896, 0.004756914718238026], [860, 0.23856043815612793, -1.77744460105896, 0.0047553677956717975], [870, 0.23856043815612793, -1.77744460105896, 0.004753883271542087], [880, 0.23856043815612793, -1.77744460105896, 0.00475314054381525], [890, 0.23856043815612793, -1.77744460105896, 0.004752314462943859], [900, 0.23856042325496674, -1.77744460105896, 0.004751571735214253], [910, 0.23856042325496674, -1.77744460105896, 0.004750744723019746], [920, 0.23856045305728912, -1.77744460105896, 0.004749663825568643], [930, 0.23856045305728912, -1.77744460105896, 0.004749663825568643], [940, 0.23856045305728912, -1.77744460105896, 0.004749663825568643], [950, 0.23856045305728912, -1.77744460105896, 0.004749663825568643], [960, 0.23856042325496674, -1.77744460105896, 0.004751211780019434], [970, 0.23856042325496674, -1.77744460105896, 0.004751211780019434], [980, 0.23856043815612793, -1.77744460105896, 0.00475314054381525], [990, 0.23856043815612793, -1.77744460105896, 0.004753883271542087], [1000, 0.23856043815612793, -1.77744460105896, 0.004755728216523078], [1010, 0.23856043815612793, -1.77744460105896, 0.004756385728462857], [1020, 0.23856043815612793, -1.77744460105896, 0.004758674913083702], [1030, 0.23856043815612793, -1.77744460105896, 0.004759417640800763], [1040, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [1050, 0.23856043815612793, -1.77744460105896, 0.004762724292520792], [1060, 0.23856043815612793, -1.77744460105896, 0.004767240728900704], [1070, 0.23856043815612793, -1.77744460105896, 0.004767240728900704], [1080, 0.23856043815612793, -1.77744460105896, 0.004771757165231996], [1090, 0.23856043815612793, -1.77744460105896, 0.004771397210054476], [1100, 0.23856043815612793, -1.77744460105896, 0.004775828430562442], [1110, 0.23856043815612793, -1.77744460105896, 0.004779963025611605], [1120, 0.23856043815612793, -1.77744460105896, 0.004785665963439264], [1130, 0.23856043815612793, -1.77744460105896, 0.004782718801408375], [1140, 0.23856043815612793, -1.77744460105896, 0.00478483913177358], [1150, 0.23856043815612793, -1.77744460105896, 0.004788253170286349], [1160, 0.23856043815612793, -1.77744460105896, 0.004790097649456069], [1170, 0.23856043815612793, -1.77744460105896, 0.004786048270283588], [1180, 0.23856043815612793, -1.77744460105896, 0.004787150953116412], [1190, 0.23856043815612793, -1.77744460105896, 0.00479194259427761], [1200, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1210, 0.23856043815612793, -1.77744460105896, 0.004791306502752476], [1220, 0.23856043815612793, -1.77744460105896, 0.00479166692357284], [1230, 0.23856043815612793, -1.77744460105896, 0.004791306502752476], [1240, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1250, 0.23856043815612793, -1.77744460105896, 0.004789821978750079], [1260, 0.23856043815612793, -1.77744460105896, 0.0047886359427882835], [1270, 0.23856043815612793, -1.77744460105896, 0.004787977499579145], [1280, 0.23856043815612793, -1.77744460105896, 0.004786430577127561], [1290, 0.23856043815612793, -1.77744460105896, 0.004785306008273703], [1300, 0.23856043815612793, -1.77744460105896, 0.004783736734133038], [1310, 0.23856043815612793, -1.77744460105896, 0.004782718801408375], [1320, 0.23856043815612793, -1.77744460105896, 0.004785306008273703], [1330, 0.23856043815612793, -1.77744460105896, 0.004787532794299399], [1340, 0.23856043815612793, -1.77744460105896, 0.004787150953116412], [1350, 0.23856043815612793, -1.77744460105896, 0.004783736734133038], [1360, 0.23856043815612793, -1.77744460105896, 0.004783461529082834], [1370, 0.23856043815612793, -1.77744460105896, 0.004785306008273703], [1380, 0.23856043815612793, -1.77744460105896, 0.0047845632806025225], [1390, 0.23856043815612793, -1.77744460105896, 0.004787532794299399], [1400, 0.23856046795845032, -1.77744460105896, 0.004781892435572483], [1410, 0.23856043815612793, -1.77744460105896, 0.004779963025611605], [1420, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1430, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1440, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1450, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1460, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1470, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1480, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1490, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1500, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1510, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1520, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1530, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1540, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1550, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1560, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1570, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1580, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1590, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1600, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1610, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1620, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1630, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1640, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1650, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1660, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1670, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1680, 0.23856043815612793, -1.77744460105896, 0.004790479956296334], [1690, 0.23856043815612793, -1.77744460105896, 0.004790097649456069], [1700, 0.23856045305728912, -1.77744460105896, 0.00479544109764851], [1710, 0.23856045305728912, -1.77744460105896, 0.0047946140855405885], [1720, 0.23856045305728912, -1.77744460105896, 0.004793871357885961], [1730, 0.23856046795845032, -1.77744460105896, 0.004793129741517391], [1740, 0.23856043815612793, -1.77744460105896, 0.004792324435456214], [1750, 0.23856043815612793, -1.77744460105896, 0.004791306502752476], [1760, 0.23856043815612793, -1.77744460105896, 0.004790097649456069], [1770, 0.23856046795845032, -1.77744460105896, 0.004789355567645775], [1780, 0.23856043815612793, -1.77744460105896, 0.004787532794299399], [1790, 0.23856043815612793, -1.77744460105896, 0.004785306008273703], [1800, 0.23856043815612793, -1.77744460105896, 0.004782189811665757], [1810, 0.23856045305728912, -1.77744460105896, 0.004779242649610369], [1820, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1830, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1840, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1850, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1860, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1870, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1880, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1890, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1900, 0.23856045305728912, -1.77744460105896, 0.004778140432416681], [1910, 0.23869700729846954, -1.7763667106628418, 0.1640937873316536], [1920, 0.23869651556015015, -1.776369333267212, 0.3241015217147144], [1930, 0.2386886030435562, -1.7764091491699219, 0.48408967055382907], [1940, 0.23867474496364594, -1.7764791250228882, 0.6440784804664146], [1950, 0.23865990340709686, -1.776553988456726, 0.8040669831842205], [1960, 0.23864507675170898, -1.7766287326812744, 0.9641277987680563], [1970, 0.23863022029399872, -1.7767035961151123, 1.1241884252432017], [1980, 0.23861540853977203, -1.7767784595489502, 1.284248386646097], [1990, 0.23860058188438416, -1.776853322982788, 1.444308142827738], [2000, 0.23858574032783508, -1.776928186416626, 1.6043678679462534], [2010, 0.23857088387012482, -1.7770030498504639, 1.7644283042231643], [2020, 0.23855604231357574, -1.7770779132843018, 1.9243769870341962], [2030, 0.23854123055934906, -1.7771525382995605, 2.084289157419704], [2040, 0.2385263890028, -1.777227520942688, 2.2442012069775368], [2050, 0.2385125458240509, -1.7772973775863647, 2.4041132089218284], [2060, 0.23855066299438477, -1.7772789001464844, 2.555929303429016], [2070, 0.22978657484054565, -1.7717807292938232, 2.688997191391352], [2080, 0.18810608983039856, -1.7579355239868164, 2.7912938814031256], [2090, 0.14180168509483337, -1.755723476409912, 2.8592946100987566], [2100, 0.10267558693885803, -1.7569704055786133, 2.904436404657858], [2110, 0.07014240324497223, -1.7603023052215576, 2.934468665240408], [2120, 0.04275164753198624, -1.7649774551391602, 2.9544291418135], [2130, 0.019629009068012238, -1.7697864770889282, 2.9677040861422865], [2140, 5.391240119934082e-05, -1.7743752002716064, 2.9764943437821185], [2150, -0.016275905072689056, -1.7780177593231201, 2.9823538571857022], [2160, -0.03035050630569458, -1.7818422317504883, 2.986230388936713], [2170, -0.04176756739616394, -1.784597635269165, 2.9888157542577187], [2180, -0.051663681864738464, -1.7873656749725342, 2.990525026632306], [2190, -0.052309900522232056, -1.7868952751159668, 2.8311872481304468], [2200, -0.05230989307165146, -1.7868952751159668, 2.6712755009632545], [2210, -0.05231105163693428, -1.7869011163711548, 2.511363198198359], [2220, -0.05232008546590805, -1.7869467735290527, 2.3514506531615873], [2230, -0.052334513515233994, -1.7870194911956787, 2.191538896943252], [2240, -0.05234935134649277, -1.7870943546295166, 2.0316269636465734], [2250, -0.05236418545246124, -1.7871692180633545, 1.8717148940361736], [2260, -0.05237901955842972, -1.7872440814971924, 1.7117140517668363], [2270, -0.05239385366439819, -1.7873189449310303, 1.5516495630620157], [2280, -0.05240868031978607, -1.7873938083648682, 1.3915849787661652], [2290, -0.05242350697517395, -1.7874685525894165, 1.231520058675789], [2300, -0.05243835970759392, -1.7875432968139648, 1.0714550666251494], [2310, -0.05245319381356239, -1.7876181602478027, 0.9113906357062229], [2320, -0.05246802419424057, -1.7876930236816406, 0.7513511046393528], [2330, -0.05248283967375755, -1.7877678871154785, 0.591362758250302], [2340, -0.052529849112033844, -1.7877548933029175, 0.43926149104937173], [2350, -0.05253780633211136, -1.7876815795898438, 0.3238953019115757], [2360, -0.052525781095027924, -1.7876207828521729, 0.23882857979550426], [2370, -0.05251699686050415, -1.78757643699646, 0.1761048357043664], [2380, -0.05251029133796692, -1.7875428199768066, 0.12985605152833052], [2390, -0.05237659066915512, -1.7860229015350342, 0.22894314456489134], [2400, -0.052378177642822266, -1.7860307693481445, 0.3889455412944067], [2410, -0.052388325333595276, -1.7860820293426514, 0.5489341343114666], [2420, -0.052403055131435394, -1.786156415939331, 0.7089222796162274], [2430, -0.052417900413274765, -1.786231279373169, 0.8688490921281635], [2440, -0.05223524570465088, -1.7861437797546387, 1.0049931458230394], [2450, -0.03965379670262337, -1.7649060487747192, 1.1301285580211788], [2460, -0.018387015908956528, -1.712813138961792, 1.2151144350649687], [2470, -0.0016046296805143356, -1.6551685333251953, 1.2716186074821365], [2480, 0.011434877291321754, -1.5964967012405396, 1.3091761010243668], [2490, 0.02192717045545578, -1.5372545719146729, 1.334144656421785], [2500, 0.03156375139951706, -1.4778833389282227, 1.3507435087423634], [2510, 0.040849123150110245, -1.4185121059417725, 1.3617475083176238], [2520, 0.04989010468125343, -1.3590928316116333, 1.3690875122603658], [2530, 0.05886359512805939, -1.2996965646743774, 1.3739561178694788], [2540, 0.06774528324604034, -1.2403231859207153, 1.3771911979292664], [2550, 0.0764116495847702, -1.180907130241394, 1.379358206779968], [2560, 0.08507781475782394, -1.1214914321899414, 1.380777684208407], [2570, 0.09374397248029709, -1.0620753765106201, 1.381723566828603], [2580, 0.10359959304332733, -1.0028951168060303, 1.3823644420953995], [2590, 0.11406197398900986, -0.943835437297821, 1.3827764439321684], [2600, 0.11490073055028915, -0.8837697505950928, 1.3830816633251424], [2610, 0.11255985498428345, -0.8306097984313965, 1.3832322968818012], [2620, 0.11076608300209045, -0.7859489917755127, 1.3833770686836864], [2630, 0.10921832919120789, -0.7482922077178955, 1.3834368395071364], [2640, 0.1077459454536438, -0.7164809703826904, 1.3834368395071364], [2650, 0.10665011405944824, -0.6895765066146851, 1.3834368395071364], [2660, 0.10523656010627747, -0.6669111251831055, 1.3834368395071364], [2670, 0.1046275794506073, -0.6480096578598022, 1.3834368395071364], [2680, 0.10351231694221497, -0.6316626071929932, 1.3834368395071364], [2690, 0.10220122337341309, -0.6178683042526245, 1.3834368395071364], [2700, 0.10194474458694458, -0.6066052913665771, 1.3834368395071364], [2710, 0.10241228342056274, -0.5986573696136475, 1.3360284667626792], [2720, 0.10240437835454941, -0.598697304725647, 1.1759948254041663], [2730, 0.10239174216985703, -0.5987610816955566, 1.015929976852712], [2740, 0.10238392651081085, -0.598800539970398, 0.8558654910431924], [2750, 0.10238175094127655, -0.5988113880157471, 0.6958524506460053], [2760, 0.10238176584243774, -0.5988113880157471, 0.5358636222394267], [2770, 0.1023264080286026, -0.598743200302124, 0.3951877713954506], [2780, 0.10233255475759506, -0.5986822843551636, 0.29139864170915064], [2790, 0.1023416668176651, -0.598636269569397, 0.2148693495879756], [2800, 0.10234757512807846, -0.5986065864562988, 0.1584399758511427], [2810, 0.10234910249710083, -0.598598837852478, 0.11683045929310672], [2820, 0.12279778718948364, -0.5959545373916626, 0.09728819397848419], [2830, 0.17796964943408966, -0.5905910730361938, 0.08504801089105656], [2840, 0.23781302571296692, -0.5866883993148804, 0.07690379273391197], [2850, 0.29762691259384155, -0.5831446647644043, 0.07149343949166431], [2860, 0.3574133515357971, -0.5797402858734131, 0.06788841603506689], [2870, 0.4171977937221527, -0.5763458013534546, 0.06549879363815235], [2880, 0.47696900367736816, -0.573016881942749, 0.06391128268800465], [2890, 0.5368610620498657, -0.5697996616363525, 0.0628544157780152], [2900, 0.596915066242218, -0.5666145086288452, 0.0621562534433146], [2910, 0.6569689512252808, -0.5634292364120483, 0.061690722496996836], [2920, 0.7170230150222778, -0.5602442026138306, 0.06137811837749533], [2930, 0.7770769596099854, -0.5570589303970337, 0.06117576614158383], [2940, 0.8371309041976929, -0.5538736581802368, 0.06103848537220587], [2950, 0.8971850872039795, -0.550688624382019, 0.06094694745084558], [2960, 0.957239031791687, -0.5475035905838013, 0.060885934642754096], [2970, 1.0172929763793945, -0.5443181991577148, 0.06084771320454057], [2980, 1.0773470401763916, -0.5411331653594971, 0.0608095624156627], [2990, 1.1374009847640991, -0.5379481315612793, 0.0608095624156627], [3000, 1.1973228454589844, -0.533942699432373, 0.06080506836728772], [3010, 1.2571604251861572, -0.5294907093048096, 0.06079836221930816], [3020, 1.317108154296875, -0.5264400243759155, 0.06079836221930816], [3030, 1.376833200454712, -0.5233452320098877, 0.06079836221930816], [3040, 1.4367246627807617, -0.5194110870361328, 0.060801758114513715], [3050, 1.496712565422058, -0.5149891376495361, 0.06079533133404151], [3060, 1.556437373161316, -0.5118944644927979, 0.06079533133404151], [3070, 1.616162657737732, -0.5087993144989014, 0.06079533133404151], [3080, 1.676053762435913, -0.5048651695251465, 0.06079871968197789], [3090, 1.7360774278640747, -0.5002634525299072, 0.060792382468010255], [3100, 1.7959343194961548, -0.4978675842285156, 0.060780355538974686], [3110, 1.8562963008880615, -0.5026340484619141, 0.06075902371013628], [3120, 1.9111539125442505, -0.5097105503082275, 0.060764262775141804], [3130, 1.9573149681091309, -0.5157957077026367, 0.060769140448958356], [3140, 1.9961788654327393, -0.5207259654998779, 0.060769140448958356], [3150, 2.029090404510498, -0.5248734951019287, 0.06077392885923254], [3160, 2.056678295135498, -0.5287420749664307, 0.06077392885923254], [3170, 2.0799765586853027, -0.531181812286377, 0.06077805085174835], [3180, 2.099539041519165, -0.5338554382324219, 0.06077805085174835], [3190, 2.116011619567871, -0.5367071628570557, 0.06077805085174835], [3200, 2.129960775375366, -0.5380914211273193, 0.06078255979138753], [3210, 2.1413040161132812, -0.5394630432128906, 0.06078255979138753], [3220, 2.1512765884399414, -0.5409247875213623, 0.06078255979138753], [3230, 2.152033567428589, -0.5399782657623291, 0.2202079427450777], [3240, 2.152033567428589, -0.5399782657623291, 0.38019704843202096], [3250, 2.152033567428589, -0.5399782657623291, 0.540185530070936], [3260, 2.152033567428589, -0.5399782657623291, 0.7001742992696588], [3270, 2.152033567428589, -0.5399782657623291, 0.8601876905769009], [3280, 2.152033567428589, -0.5399782657623291, 1.0202472054863094], [3290, 2.1520307064056396, -0.5399932861328125, 1.1644355743853638], [3300, 2.1520307064056396, -0.5399932861328125, 1.2711522935802122], [3310, 2.1520307064056396, -0.5399932861328125, 1.3498622558021438], [3320, 2.1520307064056396, -0.5399932861328125, 1.4078768430027493], [3330, 2.1520307064056396, -0.5399932861328125, 1.450667373366682], [3340, 2.15325927734375, -0.5238723754882812, 1.4836491067172084], [3350, 2.1563432216644287, -0.4714713394641876, 1.5058118960494633], [3360, 2.159532070159912, -0.4114363193511963, 1.5205536804156654], [3370, 2.1614489555358887, -0.3514437973499298, 1.5303666521055204], [3380, 2.1622023582458496, -0.29146695137023926, 1.5368681716573203], [3390, 2.1628780364990234, -0.23155593872070312, 1.5411723302228415], [3400, 2.163553476333618, -0.171644926071167, 1.5440115403058357], [3410, 2.164228916168213, -0.11173415184020996, 1.5459187598771913], [3420, 2.1649041175842285, -0.05182313919067383, 1.5471854499491418], [3430, 2.1655797958374023, 0.008088111877441406, 1.5480704249729693], [3440, 2.166255235671997, 0.06799887865781784, 1.548635143857835], [3450, 2.1669301986694336, 0.12790989875793457, 1.5490166804215793], [3460, 2.1676058769226074, 0.1878209114074707, 1.5492757298948923], [3470, 2.168281316757202, 0.24773192405700684, 1.5494286479513621], [3480, 2.168956756591797, 0.30764293670654297, 1.549581143660954], [3490, 2.1699161529541016, 0.3675553798675537, 1.5495964842523058], [3500, 2.1724472045898438, 0.42740964889526367, 1.5495964842523058], [3510, 2.173168659210205, 0.48732686042785645, 1.549611743235709], [3520, 2.173844337463379, 0.5472378730773926, 1.549611743235709], [3530, 2.175360679626465, 0.607133150100708, 1.549611743235709], [3540, 2.1771957874298096, 0.6670165061950684, 1.5496268318553457], [3550, 2.1783411502838135, 0.7269229888916016, 1.5496268318553457], [3560, 2.1808719635009766, 0.7867777347564697, 1.5496268318553457], [3570, 2.1831886768341064, 0.844245195388794, 1.5496268318553457], [3580, 2.185293436050415, 0.8929681777954102, 1.5496268318553457], [3590, 2.1871445178985596, 0.93398118019104, 1.5496268318553457], [3600, 2.188751697540283, 0.9684708118438721, 1.5496268318553457], [3610, 2.1903016567230225, 0.9973788261413574, 1.5496268318553457], [3620, 2.1917500495910645, 1.0216808319091797, 1.5496268318553457], [3630, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3640, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3650, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3660, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3670, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3680, 2.1931276321411133, 1.0352718830108643, 1.5496238826333146], [3690, 2.1931276321411133, 1.0352718830108643, 1.5496241363925705], [3700, 2.1931276321411133, 1.0352718830108643, 1.5496248941010442], [3710, 2.1931276321411133, 1.0352718830108643, 1.5496253164382094], [3720, 2.1931276321411133, 1.0352718830108643, 1.5496257369908275], [3730, 2.1931276321411133, 1.0352718830108643, 1.5496268318553457], [3740, 2.1931276321411133, 1.0352718830108643, 1.5496271707956726], [3750, 2.1931276321411133, 1.0352718830108643, 1.5496279285042982], [3760, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3770, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3780, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3790, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3800, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3810, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3820, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3830, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3840, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3850, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3860, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3870, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3880, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3890, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3900, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3910, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3920, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3930, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3940, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3950, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3960, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3970, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3980, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [3990, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4000, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4010, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4020, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4030, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4040, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4050, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4060, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4070, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4080, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4090, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4100, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4110, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4120, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4130, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4140, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4150, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4160, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4170, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4180, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4190, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4200, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4210, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4220, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4230, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4240, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4250, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4260, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4270, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4280, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4290, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4300, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4310, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4320, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4330, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4340, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4350, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4360, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4370, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4380, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4390, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4400, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4410, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495], [4420, 2.1931276321411133, 1.0352718830108643, 1.5496283508413495]], "base_path_length_m": 8.401879382142615, "stage_events": [{"tick": 100, "event": "stage", "stage": "nav_A", "goal": [0.34999999999999987, -1.8, 0.0], "heading": "path"}, {"tick": 599, "event": "enter_A", "path_m": 2.9498340288206184}, {"tick": 673, "event": "stage", "stage": "open", "hand": "open"}, {"tick": 691, "event": "stage", "stage": "pre_pinch", "mode": 1, "goal": [1.005, -1.7921, 0.8665, 0.0, -0.7071, 0.0, 0.7071]}, {"tick": 1425, "event": "stage_end", "stage": "pre_pinch", "outcome": "finished", "pos_err_m": 0.0014452115792590071, "l6": [1.0036, -1.7918, 0.8668, -0.051, -0.724, 0.0394, 0.6868], "arm_q_margin": {"right_j0": [0.476, 2.574], "right_j1": [-0.82, 2.99], "right_j2": [1.445, 1.597], "right_j3": [-1.17, 1.874], "right_j4": [0.775, 2.201], "right_j5": [-1.81, 1.166], "right_j6": [-3.888, 0.824]}}, {"tick": 1425, "event": "stage", "stage": "pinch", "mode": 4, "goal": [1.005, -1.7921, 0.7665, 0.0, -0.7071, 0.0, 0.7071]}, {"tick": 1525, "event": "stage_end", "stage": "pinch", "outcome": "finished", "pos_err_m": 0.004828617745864307, "l6": [1.005, -1.7921, 0.7713, -0.0023, -0.7079, 0.0019, 0.7063], "arm_q_margin": {"right_j0": [0.468, 2.583], "right_j1": [-0.677, 2.951], "right_j2": [1.429, 1.614], "right_j3": [-1.282, 1.761], "right_j4": [0.933, 2.043], "right_j5": [-1.852, 1.124], "right_j6": [-3.923, 0.789]}}, {"tick": 1531, "event": "stage", "stage": "close", "hand": "close"}, {"tick": 1535, "event": "object_first_moved", "path_m": 3.260505281619815}, {"tick": 1540, "event": "attach", "at_tick": 1540, "opening_m": 0.0054107168689370155, "nearest_particle_m": 0.002242739354199951, "bound": true}, {"tick": 1559, "event": "stage", "stage": "lift", "mode": 4, "goal": [1.005, -1.7921, 0.9466, -0.0, -0.7071, 0.0001, 0.7071]}, {"tick": 1620, "event": "lifted", "z_gain": 0.030188607758489194}, {"tick": 1661, "event": "stage_end", "stage": "lift", "outcome": "finished", "pos_err_m": 0.0059817137602955215, "l6": [1.0042, -1.7921, 0.9407, -0.001, -0.7078, 0.0006, 0.7064], "arm_q_margin": {"right_j0": [0.411, 2.639], "right_j1": [-0.854, 2.955], "right_j2": [1.363, 1.68], "right_j3": [-0.992, 2.052], "right_j4": [0.857, 2.119], "right_j5": [-2.122, 0.854], "right_j6": [-3.849, 0.863]}}, {"tick": 1682, "event": "lift_check", "top_gain": 0.07324485435693884, "bottom_shift": 4.611427127299543e-08, "hang": 0.18076010058230318}, {"tick": 1682, "event": "stage", "stage": "carry", "mode": 1, "goal": [0.7382, -1.7667, 1.2025, -0.0009, -0.7076, 0.0005, 0.7066]}, {"tick": 1900, "event": "stage_end", "stage": "carry", "outcome": "finished", "pos_err_m": 0.005969502953785723, "l6": [0.7346, -1.7644, 1.1984, 0.0012, -0.7143, 0.0106, 0.6998], "arm_q_margin": {"right_j0": [0.615, 2.436], "right_j1": [-1.339, 2.471], "right_j2": [1.232, 1.81], "right_j3": [-0.732, 2.312], "right_j4": [0.366, 2.61], "right_j5": [-2.435, 0.541], "right_j6": [-3.961, 0.752]}}, {"tick": 1900, "event": "cloth_probe", "tag": "after_carry", "top_centroid": [0.7695, -1.7725, 0.851], "top_z_min": 0.6954, "pinch": [0.739, -1.7753, 0.976], "pinch_quat": [0.0026, -0.7011, 0.7129, -0.012], "top_minus_pinch_xy": [0.0306, 0.0028], "lift_centre_off": [0.0679, -0.0021], "zone": [2.2, 2.0], "top_to_zone": 4.0346}, {"tick": 1900, "event": "stage", "stage": "backoff_A", "goal": [-0.10000000000000014, -1.8, 0.0], "heading": "goal"}, {"tick": 1938, "event": "leave_A", "path_m": 3.2615210899340266}, {"tick": 2383, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 1.0573552615477678e-16], "heading": "path"}, {"tick": 2414, "event": "leave_A", "path_m": 3.5615794597962926}, {"tick": 2810, "event": "stage", "stage": "approach_B", "goal": [2.2, -0.5499999999999998, 1.5707963267948966], "heading": "path"}, {"tick": 3331, "event": "stage", "stage": "nav_B", "goal": [2.2, 1.1500000000000001, 1.5707963267948966], "heading": "path"}, {"tick": 3550, "event": "enter_B", "path_m": 8.093171146916616}, {"tick": 3624, "event": "stage", "stage": "pre_place", "mode": 1, "goal": [2.121, 1.9981, 1.0431, -0.4875, -0.5192, -0.4904, 0.5023]}, {"tick": 3901, "event": "stage_end", "stage": "pre_place", "outcome": "finished", "pos_err_m": 0.0055616176592296705, "l6": [2.1206, 1.9945, 1.0389, -0.4872, -0.5077, -0.4968, 0.5081], "arm_q_margin": {"right_j0": [0.125, 2.926], "right_j1": [-0.899, 2.91], "right_j2": [1.779, 1.264], "right_j3": [-0.232, 2.812], "right_j4": [1.124, 1.852], "right_j5": [-2.386, 0.59], "right_j6": [-3.156, 1.557]}}, {"tick": 3901, "event": "cloth_probe", "tag": "after_pre_place", "top_centroid": [2.1286, 2.0241, 0.6919], "top_z_min": 0.54, "pinch": [2.1263, 1.9963, 0.8164], "pinch_quat": [0.0046, -0.9999, 0.0159, 0.005], "top_minus_pinch_xy": [0.0023, 0.0278], "lift_centre_off": [0.0679, -0.0021], "zone": [2.2, 2.0], "top_to_zone": 0.0754}, {"tick": 3901, "event": "stage", "stage": "place", "mode": 4, "goal": [2.1264, 2.0003, 0.9433, -0.4872, -0.5077, -0.4968, 0.5081]}, {"tick": 4002, "event": "stage_end", "stage": "place", "outcome": "finished", "pos_err_m": 0.005317960392087979, "l6": [2.1255, 2.0025, 0.9481, -0.4846, -0.5045, -0.498, 0.5126], "arm_q_margin": {"right_j0": [0.289, 2.761], "right_j1": [-0.74, 3.014], "right_j2": [1.402, 1.64], "right_j3": [-0.411, 2.633], "right_j4": [1.39, 1.586], "right_j5": [-2.302, 0.674], "right_j6": [-3.202, 1.511]}}, {"tick": 4013, "event": "cloth_probe", "tag": "after_place", "top_centroid": [2.1419, 2.0435, 0.62], "top_z_min": 0.5399, "pinch": [2.1289, 2.0035, 0.7235], "pinch_quat": [0.0027, -0.9998, 0.0171, 0.0104], "top_minus_pinch_xy": [0.0131, 0.0399], "lift_centre_off": [0.0679, -0.0021], "zone": [2.2, 2.0], "top_to_zone": 0.0726}, {"tick": 4013, "event": "stage", "stage": "release", "hand": "open"}, {"tick": 4013, "event": "release"}, {"tick": 4066, "event": "cloth_probe", "tag": "after_release", "top_centroid": [2.1567, 2.0428, 0.5595], "top_z_min": 0.5399, "pinch": [2.1302, 2.003, 0.7214], "pinch_quat": [0.0038, -0.9998, 0.0167, 0.0084], "top_minus_pinch_xy": [0.0265, 0.0398], "lift_centre_off": [0.0679, -0.0021], "zone": [2.2, 2.0], "top_to_zone": 0.0609}, {"tick": 4066, "event": "stage", "stage": "retreat", "mode": 4, "goal": [2.126, 2.0016, 1.064, -0.4855, -0.5059, -0.4977, 0.5106]}, {"tick": 4167, "event": "stage_end", "stage": "retreat", "outcome": "finished", "pos_err_m": 0.00548815753309032, "l6": [2.1262, 2.0006, 1.0586, 0.4857, 0.5067, 0.4981, -0.5092], "arm_q_margin": {"right_j0": [0.191, 2.859], "right_j1": [-0.88, 2.929], "right_j2": [1.226, 1.817], "right_j3": [-0.118, 2.925], "right_j4": [1.797, 1.179], "right_j5": [-2.473, 0.503], "right_j6": [-2.929, 1.783]}}, {"tick": 4167, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.1561, 2.0433, 0.5588], "top_z_min": 0.54, "pinch": [2.1307, 2.0026, 0.836], "pinch_quat": [-0.005, 0.9998, -0.0161, -0.0075], "top_minus_pinch_xy": [0.0254, 0.0408], "lift_centre_off": [0.0679, -0.0021], "zone": [2.2, 2.0], "top_to_zone": 0.0616}, {"tick": 4408, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [1620, "carried"], [4035, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.531591687120323}, "interstation_net_m": 3.360286125963715, "distance_to_first_interaction": 3.260505281619815, "final_approach_pose": [2.1931276321411133, 1.0352718830108643, 1.5496283508413495], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 6038, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.34999999999999987, -1.8, 0.0], "B": [2.2, 1.1500000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 1.9655601059075967e-07, "bottom_max_shift_m": 3.045224541784606e-07, "bottom_lift_m": 3.565372885816487e-09, "top_z_over_table_b": 0.028610604188544553, "top_to_zone_m": 0.062482413511679, "hand_to_top_m": 0.24255179646515782, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4420, "control_steps": 3966, "attach_events": [{"event": "attach", "at_tick": 1540, "opening_m": 0.0054107168689370155, "nearest_particle_m": 0.002242739354199951, "bound": true}, {"event": "release", "at_tick": 4013}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 3.045224541784606e-07, "bottom_layer_reference": [1.1999998583866687, -1.7999992328659906, 0.5400001607169407], "top_layer_final_centroid": [2.155569046788385, 2.043931109648536, 0.5586106041885446], "bottom_layer_final_centroid": [1.1999997783596832, -1.7999994123929994, 0.5400001642823136], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"}