add N028/sawyer_umi/dr_on/seed_2044

N028/sawyer_umi/dr_on/seed_2044/data/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 control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1982 rows vs ceil(3963/2) = 1982"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..4023, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "38.45 MB, 1982 frames at 25 fps, mean luma 67..126, std 52, new picture 1981x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1982 vs 1982"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.05 MB, 1982 frames at 25 fps, mean luma 102..139, std 39, new picture 1981x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1982 vs 1982"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N028/sawyer_umi/dr_on/seed_2044/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n028_saw_on_2044/out/data  task=N028  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n028_saw_on_2044/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1982  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: 1982 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 control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'
+rows 1982 at dataset fps 25 = 79.28 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1982 rows vs ceil(3963/2) = 1982
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4023, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 38.45 MB, 1982 frames at 25 fps, mean luma 67..126, std 52, new picture 1981x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1982 vs 1982
+[PASS] video observation.images.wrist decodes, 640x480, not black: 26.05 MB, 1982 frames at 25 fps, mean luma 102..139, std 39, new picture 1981x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1982 vs 1982
+parquet size 1.75 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 66.47 MB; whole cell dir 67.6 MB
+RESULT: ALL PASS

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/completed/0.json

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

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8287e6cea946de3c1d7aa4a20ef248385610819fa5430245984b683988a925b3
+size 1745710

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the control panel and turn the big knob to the mark the person is pointing at."], "length": 1982, "magicsim/control_steps": 3963, "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 a. There are a large gray table a and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height."}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.04558322759012492, -0.0001284300709588737, -0.0066156680824345036, 0.3976042888509758, 0.2188348653608807, 0.8374477401450953, -0.08030349000401261, 0.5761051674182672, 0.055863413212633335, -0.14901870389192345, 0.5095862764883956], "std": [0.10485464653783605, 0.0024585768896170685, 0.0664340726047524, 0.7370786181749885, 0.37579825920781806, 0.2499728935754489, 0.23641977997656105, 0.7009364235426916, 0.1102928903889601, 0.2774096949751095, 0.499908094856536], "min": [0.0, -0.0214511901140213, -0.800000011920929, -2.4692842960357666, -1.5503675937652588, 0.7012686729431152, -0.4226182699203491, -0.9961947202682495, -0.0010971864685416222, -0.7124203443527222, 0.0], "max": [0.30000001192092896, 0.00949989352375269, 0.2531524896621704, 0.7332599759101868, 0.7470923662185669, 1.3033586740493774, 0.2951928973197937, 0.9962311387062073, 0.2900395095348358, 0.0, 1.0], "count": [1982]}, "action_is_hold": {"mean": [0.030272452068617558, 0.030272452068617558, 0.030272452068617558, 0.07568113017154389, 0.07568113017154389, 0.07568113017154389, 0.07568113017154389, 0.07568113017154389, 0.07568113017154389, 0.07568113017154389, 0.9545913218970736], "std": [0.17133601697941817, 0.17133601697941817, 0.17133601697941817, 0.26448723354351883, 0.26448723354351883, 0.26448723354351883, 0.26448723354351883, 0.26448723354351883, 0.26448723354351883, 0.26448723354351883, 0.20819877534671474], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1982]}, "observation.state": {"mean": [0.4337296639874532, -1.4560969384719817, 0.11229562799997936, -0.02188312326777987, 9.809411593578163e-08, -1.450463619229772, -0.2388626092505629, 1.7470535062155739, -0.42660208834269336, 0.12476160515646716, 0.7760668494653774, 0.011970502361716222, -0.01218281714300986, -0.01218281714300986, -0.011970502361716222], "std": [0.7711996585591465, 0.11758415311515057, 0.2625284436508335, 0.21059483732402035, 1.0642673341899543e-05, 0.1098741153350734, 0.1961678707903317, 0.7553537594016648, 0.2920246845901136, 1.5634728449635955, 0.49810197769110237, 0.007188906622861718, 0.007190739957170898, 0.007190739957170898, 0.007188906622861718], "min": [-2.856579542160034, -1.956129550933838, -0.014124691486358643, -0.16732323169708252, -0.00040827912744134665, -1.7240098714828491, -0.8142657279968262, 0.4876205623149872, -1.3990639448165894, -0.9658361673355103, -9.325605060439557e-05, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [0.7141642570495605, -1.4138109683990479, 0.6788632273674011, 0.8565744757652283, 6.320155807770789e-05, -1.3395378589630127, 0.08586160838603973, 2.410884380340576, 0.051209960132837296, 2.7005856037139893, 1.7223557233810425, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1982]}, "observation.joint_vel": {"mean": [0.04500773431399099, 0.006828266079545438, -0.006844004645137319, -0.002019141319425828, -1.2114834139271279e-05, 0.0011594315401008521, -0.00268610384470076, 0.022786498044023613, -0.009533775021221016, -0.0415944717157009, 0.014100283093964836, -0.001266829924855275, -0.0010026975299081374], "std": [0.10352848315318988, 0.016459544301507804, 0.06760123071639058, 0.06508684769380446, 0.0005459654026281792, 0.03668999208455693, 0.04848937554781573, 0.060431852689243386, 0.07924195687797908, 0.10774493778656889, 0.08943552543287892, 0.006344170661431147, 0.006054591494791214], "min": [-0.00031531701097264886, -0.026935037225484848, -0.8000239133834839, -0.16810868680477142, -0.0012964578345417976, -0.1344701051712036, -0.1806982457637787, -0.18320126831531525, -0.3235393464565277, -0.32295000553131104, -0.32548001408576965, -0.10000003129243851, -0.10012213885784149], "max": [0.29958978295326233, 0.05191218480467796, 0.24373386800289154, 0.2558819055557251, 0.020887894555926323, 0.1305202841758728, 0.1877158135175705, 0.18971151113510132, 0.32244113087654114, 0.09160974621772766, 0.4114466607570648, 0.10001771152019501, 0.09999911487102509], "count": [1982]}, "observation.eef_pose": {"mean": [0.4077007529630272, 0.22457411302973476, 0.8715869574445769, -0.09990219391720777, 0.8803701603749445, 0.03408884244485111, -0.19830554037374304], "std": [0.7412147272545989, 0.3776410253513507, 0.25444246260302983, 0.22665287791980374, 0.13793329656017736, 0.1417055254700433, 0.2898329405719831], "min": [-2.4706785678863525, -1.5503675937652588, 0.7012518048286438, -0.42261913418769836, 0.6327877044677734, -0.32595694065093994, -0.7153193354606628], "max": [0.8001198172569275, 0.7471341490745544, 1.3054118156433105, 0.2952756881713867, 0.9962553381919861, 0.290132611989975, 0.0004371236136648804], "count": [1982]}, "observation.environment_state": {"mean": [0.0, 0.0, 0.0, 3.0048673715629535e-18, -0.013582661747932434, 0.9286897778511047, 0.0, 0.0, 0.0, 0.08563300222158432, -0.015240063890814781, 0.0010875188745558262, -4.516878107097e-07, 0.42436906695365906, -1.7700488117518674e-06, -1.4360486488840252e-07, 0.4219217300415039, -1.2635255188224005e-06, 0.012700348161160946, 0.1335296630859375, -0.00034838198916986585, 0.012131109833717346, 0.1335911750793457, -0.0003327876329421997, -0.025248520076274872, 0.00045495989616028965, -0.0033057215623557568, -0.013496838510036469, 0.00874006375670433, -0.00021311522868927568, -4.7683720083568915e-08, 0.017963934689760208, -1.4305116202706358e-08, 0.014085246250033379, 0.018115244805812836, 0.0026048854924738407, 0.03358248621225357, 0.01647895947098732, 0.0006003189482726157, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, -3.905296125594759e-06, 0.21095934510231018, 3.2913685572566465e-06, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, 1.907348590179936e-08, 6.866455350973411e-07, 2.6226043559063328e-08, 2.9468535558407893e-06, 0.2121833860874176, -1.0156631105928682e-05, -0.08544202893972397, -0.015437878668308258, 0.0010765137849375606, 9.305869639320008e-07, 0.42439427971839905, -2.6221396183245815e-06, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 7.683411240577698e-08, 0.42191487550735474, -1.3102564940988268e-06, -0.014730469323694706, 0.1333129107952118, -0.0004041634383611381, -0.033581484109163284, 0.016480112448334694, 0.0006033301469869912, 0.025247830897569656, 0.0004530239093583077, -0.0033051325008273125, 0.01349605992436409, 0.008739289827644825, -0.00021371842012740672, -0.014084797352552414, 0.01811564527451992, 0.0026059604715555906, 2.8610228852699038e-08, 0.017964133992791176, -1.1920929132713809e-08, -0.014706363901495934, 0.13331493735313416, -0.0004034614539705217, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 3.92436959373299e-06, 0.21095584332942963, 3.3819676446000813e-06, -2.3841858265427618e-08, 7.629394644936838e-07, 2.6226043559063328e-08, -2.708434976739227e-06, 0.2121957391500473, -1.0557174391578883e-05, 7.640293188160285e-05, 0.05937811732292175, 0.0181009192019701, -1.1495445707564536e-09, 0.03692169114947319, -2.386373978424672e-07, 1.67846394560911e-08, 0.12805412709712982, -1.6645860796415946e-06, -0.00018494282267056406, 0.2661024034023285, -0.0015357156516984105, 1.1557340862111687e-08, 0.032944221049547195, -4.163458556053386e-08, -2.1874280167220222e-09, 0.03347231075167656, 5.8661921827585664e-08, -3.725290215195187e-11, 0.0, 5.4836274188119205e-08, 0.01331253070384264, 0.023795414716005325, -0.0002647557412274182, 0.02985559217631817, 0.008106537163257599, -0.0005802965024486184, 0.010227947495877743, -1.5258788721439487e-07, -9.53674295089968e-09, 0.015696678310632706, -7.629394644936838e-07, 1.2069940602543738e-08, 0.030124953016638756, 0.008011169731616974, -0.0006505133933387697, 0.07486404478549957, 0.06695041805505753, -0.03188373148441315, 0.0749829113483429, 0.07058663666248322, 0.029915863648056984, 0.027485961094498634, 0.06144244968891144, -0.0007408623350784183, 0.00033634185092523694, -2.1820067559019662e-05, -2.7660281176622448e-08, 0.048639800399541855, 0.21273402869701385, -0.002246822929009795, 5.056242570726066e-07, 0.10625939071178436, -1.011480890098876e-06, 5.841818049801051e-07, 0.26235172152519226, -7.007251950412053e-06, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, -2.593994167909841e-06, 0.11331218481063843, -4.7683716530855236e-08, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, 3.274969912806891e-06, 0.2266693264245987, -5.082220369807795e-05, 0.0025456140283495188, 0.07975626736879349, -0.014720885083079338, -3.501161699426292e-06, 0.026278309524059296, -1.9519442522496973e-05, -1.3310135493549648e-06, 0.014477035030722618, -4.263797564596472e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.6267144337177446e-07, 0.022826118394732475, -6.738248408770759e-06, -0.004057978745549917, 0.0812256932258606, 0.013821816071867943, 1.5151036905081128e-06, 0.038638725876808167, -2.215717177665608e-05, -2.600198172761345e-07, 0.025776276364922523, -5.409315235049861e-06, -0.004295846447348595, 0.07962453365325928, 0.03166002035140991, 6.177499460946837e-06, 0.03495091199874878, -3.6606375944773537e-05, 2.989737822530392e-06, 0.024862218648195267, -9.12905670610682e-06, 0.0029886423144489527, 0.019252674654126167, 0.0205945186316967, -1.7372558430669093e-06, 0.05110243707895279, -1.7710597601746336e-05, 0.0, 0.02483726479113102, 0.0, 9.155274938166258e-07, 1.525879156361043e-07, 9.536744727256519e-09, -1.0833738997462206e-05, 0.13216368854045868, -1.2278555914235767e-05, 0.08389358222484589, 0.061939772218465805, 0.10641822963953018, 2.0027160019253643e-07, 0.019999904558062553, -3.0517577442878974e-07, -0.08391167968511581, 0.061933744698762894, 0.10640304535627365, -1.7166138377433526e-07, 0.019999904558062553, -3.814697322468419e-07, -0.048687536269426346, 0.21271587908267975, -0.0022514378651976585, -7.477972302744079e-07, 0.10623197257518768, -9.459478177968161e-07, 2.1990895475906832e-07, 0.26235201954841614, -6.786691721946868e-06, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, 2.4414059680566425e-06, 0.11331336200237274, -3.337859766361362e-08, -3.498298838167102e-06, 0.22667355835437775, -4.9985941586783156e-05, -2.3074462654852357e-06, 0.07940507680177689, -8.047028132300093e-06, 1.970405946849496e-06, 0.03659361973404884, -6.978189053870619e-06, 9.346194259061575e-08, 0.022814102470874786, -1.8753472577203247e-06, 0.004059355705976486, 0.08121982216835022, 0.013825193978846073, 6.441633188979593e-07, 0.038633253425359726, -1.6884107030860296e-05, 2.4776048097590084e-07, 0.025773216038942337, -4.209122379728059e-06, -0.005676600616425276, 0.01969880796968937, 0.01957845874130726, -7.367849751986928e-06, 0.051099348813295364, -1.5018273180815237e-05, 0.0, 0.024837836623191833, -3.814697180359872e-08, 0.004297053907066584, 0.0796256884932518, 0.03165679797530174, -5.011987013170427e-06, 0.034952353686094284, -3.074793129590869e-05, 2.5751014625319034e-06, 0.024857960641384125, -7.566523396101433e-06, -0.002541684778407216, 0.07974854111671448, -0.014709856361150742, 4.522514245763887e-06, 0.02626584656536579, -1.590652209782668e-05, 3.073745631928137e-07, 0.01447517890483141, -3.5456350813071634e-06, -4.5776371848660347e-07, 1.4305115314527939e-07, 1.4305116202706358e-08, 1.0528564416745212e-05, 0.13216370344161987, -1.2264251381566282e-05, 1.0, 0.0, 0.0, 0.0, 0.6696235246121823, 0.7426784939229428, 0.003869666257806453, -0.004287794470367906, 0.9890760183334351, 0.14740629494190216, 5.14507046318613e-05, -0.0006149071268737316, 0.00523009822129692, -0.025212328542704297, -0.1800389350603375, -0.9833225499609284, -0.9998106306604853, 0.01851924779372878, 0.005957661154534288, -0.000606201848281382, -0.7519728568139158, -0.6494624925369451, 0.09769180450517041, -0.0564954133514469, 0.9914049506187439, 0.12855777144432068, 0.023155035451054573, -0.007294450420886278, -0.9914090632189415, -0.12855812905715283, -0.022969188166765343, 0.00731824804003436, 0.9951032996177673, -0.09013382345438004, 0.04042704030871391, 0.003348370548337698, 0.9847936630249023, -0.16255776584148407, 0.05993225425481796, 0.012836587615311146, 0.9960203170776367, -0.07844223827123642, 0.04223981127142906, 0.002525907475501299, 0.9955075979232788, -0.08238422870635986, 0.046640124171972275, -0.0015490413643419743, 0.9998167753219604, -0.018469803035259247, 0.0008154921233654022, -0.004997477866709232, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.999870777130127, 5.043127657700097e-06, 0.016083139926195145, 6.626502454309957e-06, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.013166326916692957, 0.004605701397145853, 0.1839323407104831, 0.9828399943655843, 0.9997597267601251, -0.012123572532046214, 0.018012785241872404, -0.0030515386918456293, 0.999870777130127, 5.010140739614144e-06, -0.016083141788840294, -6.619899068027735e-06, -0.7501871584041568, -0.6340523658679303, -0.18042675401981614, 0.05141043289368136, -0.991408109664917, -0.12856686115264893, 0.022966882213950157, -0.007300066761672497, 0.9998195171356201, -0.018335722386837006, -0.0008173796231858432, 0.00494206789880991, 0.9951272010803223, -0.08985631167888641, -0.04044421762228012, -0.0034929346293210983, 0.9847971200942993, -0.16253915429115295, -0.059932876378297806, -0.012804165482521057, 0.9955073595046997, -0.08238589018583298, -0.04664164409041405, 0.0015673487214371562, 0.9960149526596069, -0.07851073890924454, -0.04224039986729622, -0.0025033068377524614, 0.9914039373397827, 0.12856698036193848, -0.02315285988152027, 0.007276609074324369, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9890646298165038, 0.14747288027697447, -0.0017724465500087855, -0.00020756720816122141, 0.9709435060515053, -0.23927910513912753, -0.0036532210476751, -0.0010341766126962298, 0.9965047155150732, -0.08324361164743076, -0.006590792842775087, -0.0023621035334264145, 0.9769736862808135, 0.21323523761405713, 0.0016896561208471475, -0.007101143971574234, 0.9994911463662426, 0.020481028454049324, -0.01910978076015303, 0.015260857392730254, 0.9858201682026283, -0.1636835999493642, -0.028068186527289127, 0.024060005134142613, 0.5000000596046448, 0.5, 0.5, 0.5000001192092896, 0.7071213722229004, -5.918661554460414e-05, -4.2020394175779074e-05, 0.7070924043655396, 0.9991929531097412, -0.0008850466692820191, 0.0162584837526083, 0.03672273829579353, 0.9911035895347595, -0.001878797891549766, -0.01606130786240101, 0.13210760056972504, 1.0000001192092896, 0.0, 0.0, 0.0, -8.0032208643388e-05, 1.0000001192092896, -2.2604415335081285e-06, 9.710102312965319e-05, -2.2073859032236663e-06, 0.7071067613561748, 2.020365370829722e-06, 0.7071069997747539, -2.0413865526165747e-06, 0.7071068886250227, 2.186363873431662e-06, 0.7071068886250227, 0.7071024179157889, 2.7521411537219897e-05, -3.068280420664618e-05, 0.7071113586125052, 1.0639178981364239e-05, 1.0000001192092896, -1.0283819392498117e-05, -3.3974360121646896e-05, 0.662431746330319, -0.01971778738022031, 0.200487449599804, -0.7215264137650114, 0.764730032559721, 0.08519707223556477, 0.1395698259429542, -0.6232574860876432, 0.9889785592057991, 0.14330697734769732, 0.035266658116421476, -0.011875888246264756, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9999998807907104, -0.0004464949597604573, 0.0004149593587499112, -0.00032448137062601745, 0.9862557595481064, -0.0038349027533975065, 0.11930496177958431, 0.114242709496488, 0.8296572990662876, 0.0293194217838565, -0.11034275377103467, -0.5464739713791521, 0.8167129688258128, -0.03234724679587768, -0.10509668952220624, -0.5664703812596776, 0.8491477907365554, -0.03038195315955205, -0.06704210453148927, -0.5230016082856056, 0.9109167715254514, 0.0048348078117485035, -0.056107708938066464, -0.4087288807006224, 0.9788121526344754, -0.0644212883270292, -0.01626314586789679, 0.19368165594598, 0.18079693514692075, -0.026948187248377217, -0.01145605922899351, -0.9830846109856991, 0.9447414864805704, 0.008259597226439794, -0.04423823204421552, -0.3247131106681468, 0.6801746413036505, -0.019451679428804415, -0.06932528968806465, -0.7295054718776861, 0.9851249419115146, 0.0019035951627228564, -0.022819602803734067, -0.17030788911459543, 0.9552717739951118, -0.011597909913872915, 0.019190138104389583, -0.29487851099698503, 0.9199479574752985, 0.018202509350443163, -0.028701971455145435, -0.3905647275245755, 0.8487425960758259, -0.010078388202360311, -0.04896684312360318, -0.526437993728068, 0.9472207966534089, 0.20623615242758866, -0.23711736358920213, -0.06336446071098117, 0.9524060441434804, -0.21207567933649876, 0.09867493750379015, 0.19547447446436741, 0.9988296627998352, 0.024530641734600067, 0.0021590054966509342, 0.04163087531924248, 0.9999992251396179, 3.134754933853401e-06, -0.0013372093671932817, 2.3774222768224718e-07, 0.9999992251396179, 1.3739227142650634e-06, 0.0013372123939916492, -7.651428239180196e-23, 1.272228587367863e-06, 7.253616331581725e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 1.2581036799019785e-06, 7.301233381440397e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 0.6637378641442743, -0.051373560099996905, -0.23270434188524, 0.7089864322022882, 0.6650026864649429, 0.3707145073429487, 0.1945499761629658, 0.618445388844949, 0.9245662707252772, 0.23838694175605696, -0.09557066518741948, 0.281420417363059, 0.9999998211860657, -0.0004993415204808116, -0.0004639132530428469, 0.0003626141988206655, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9204525479935974, -0.2568649132214449, -0.057395199264891214, -0.28894566883653494, 0.9019488686269035, 0.10677026204697179, 0.10812266908518361, 0.40422540873018453, 0.7673527553873033, -0.012287676264837339, 0.059630971123754796, 0.6383284308114038, 0.8726703433167682, -0.01315120965858882, 0.04377532721798788, 0.48616611500440765, 0.9469805878900014, 0.008216384738142388, 0.04383276378891904, 0.3181810657804838, 0.8877105093988713, -0.010136278328325084, 0.04059323288808557, 0.4584973443047671, 0.8579672504626177, -0.00852990424350716, 0.06054418862587749, 0.5100530350785684, 0.957611653626747, 0.28657194311936374, -0.006215919999877512, 0.028599883535901306, 0.9766655556489192, -0.13791273524524225, -0.06383132929683454, -0.15175762762786402, 0.99882972240448, 0.02453337050974369, -0.0021541414316743612, -0.04162808880209923, 0.9696970391345674, -0.09455666452736475, -0.030598731115685944, 0.22318288207234577, 0.7473940118230075, 0.013765319759885129, 0.044152694841702096, 0.662769423333475, 0.8730336317621494, -0.009437115776975659, 0.045941870315630066, 0.4853996579449785, 0.8336967559442992, 0.1984526746418594, 0.19336528409982906, 0.47767801740696403, 0.8432235635373474, -0.03185613800167256, 0.09715371475931854, 0.5277505475805939, 0.873279743851374, -0.03053598644401724, 0.06080600951246609, 0.48244487914500156, 0.9999992251396179, 3.1351989946415415e-06, 0.0013372093671932817, -1.1700296198569049e-07, 0.9999992251396179, 1.3768782309853123e-06, -0.0013372123939916492, -9.565201253280975e-08, 0.8116686940193176, 1.23296320438385, 0.029999999329447746, 0.9900026321411133, 0.0, 0.0, 0.14104892313480377, -1.1972937677149575, -1.1972937677149575, 0.022728824613626165, 0.9999999403953552, 0.30000001192092896, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 1.1399999856948853, 0.30000001192092896, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 8.843065782620757e-15, 0.0, 0.0, 1.553303290728725e-14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.653192563020261e-14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.9863046944638046e-18, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.95438875960322e-16, 3.3826556475518234e-17, 0.0, 1.3735158625734367e-15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.610925867808397e-15, 0.0, 5.709807286781361e-15, 6.991292648892509e-15, 0.0, 1.1047535219552122e-13, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.5006444464217235e-14, 0.0, 1.5311929924189103e-12, 0.0, 0.0, 0.0, 5.1576251074108584e-14, 0.0, 5.493517711947186e-13, 1.139942888014307e-14, 0.0, 2.7016336972796556e-14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6.59812149313927e-15, 0.0, 2.087220695267441e-13, 0.0, 0.0, 0.0, 4.085811665230565e-14, 0.0, 2.0418954678740761e-13, 1.0353149733105372e-14, 0.0, 5.686792600392507e-14, 0.0, 0.0, 0.0, 1.7716762588774883e-13, 0.0, 2.710158695486211e-13, 1.978001799966494e-14, 0.0, 7.643302731148949e-14, 0.0, 0.0, 0.0, 2.3681133774694867e-14, 0.0, 1.4152476554740818e-13, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.37704212159954e-15, 0.0, 1.8236492030247404e-14, 3.711462277155034e-15, 0.0, 1.9104137750118488e-13, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.9772032257120737e-14, 0.0, 2.1328513698297724e-13, 2.2840381566792892e-14, 0.0, 9.677197825059826e-14, 2.7017445365490988e-15, 0.0, 5.668158590984872e-14, 0.0, 0.0, 0.0, 2.081849326486066e-14, 0.0, 1.0800297700487216e-13, 1.2499602136116636e-14, 0.0, 2.7016336972795884e-14, 0.0, 0.0, 0.0, 2.0724353998731315e-13, 0.0, 2.938194267587179e-13, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.307178708027966e-14, 0.0, 7.70854772689477e-13, 2.7965170595570346e-14, 0.0, 2.2086741940756928e-13, 0.0, 0.0, 0.0, 4.085811665230565e-14, 0.0, 4.245941342451552e-13, 5.186134505610363e-15, 0.0, 5.107213044804046e-14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.997491673486189e-08, 2.997491673486189e-08, 2.3329334707688497e-10, 2.341790369911085e-10, 0.0, 0.0, 0.0, 0.0, 2.3167736220897106e-10, 1.8402430388538053e-09, 7.413675590687074e-09, 5.888777724332177e-08, 5.976732818277348e-08, 9.43963183886246e-10, 4.669322514279178e-10, 2.9498849496445185e-11, 5.976987026217801e-08, 3.007503912902443e-08, 7.471233782772251e-09, 3.7356168913861255e-09, 0.0, 0.0, 0.0, 0.0, 3.784896801158568e-09, 4.731121001448167e-10, 5.913901251810208e-11, 2.956950625905131e-11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.287200799398154e-10, 2.3385435190254267e-10, 7.483339260881365e-09, 5.9438085116148185e-08, 5.94738309464008e-08, 9.292786085375124e-10, 9.359860936410434e-10, 2.323196521343781e-10, 0.0, 0.0, 0.0, 0.0, 5.978453806700209e-08, 3.004156660427131e-08, 7.510391651067828e-09, 3.7365336291876304e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.946826513608912e-08, 7.43353314201114e-09, 1.1614895534392406e-10, 1.4518619417990508e-11, 5.993152419962584e-08, 1.498288104990646e-08, 2.3410751640478845e-10, 5.92999475841639e-11, 5.9493147566616244e-08, 3.7667757007312256e-09, 4.647902153641894e-10, 1.177117406478508e-10, 4.9339669369199626e-08, 1.2334917342299907e-08, 9.636654173671802e-11, 3.854661669468721e-10, 5.922724948147673e-08, 9.320728640623828e-10, 9.320728640623828e-10, 9.254257731480739e-10, 5.957183161568261e-08, 7.500390322875177e-09, 1.8616197379900815e-09, 1.8616197379900815e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.638316386917867e-14, 2.0023388109321974e-08, 7.638316386917867e-14, 2.0023388109321974e-08, 1.6891809956050483e-14, 4.428086629118898e-09, 1.6891809956050483e-14, 4.428086629118898e-09, 1.338500974413414e-09, 8.169561611409423e-14, 8.169561611409997e-14, 1.338500974413414e-09, 0.0, 0.0, 0.0, 0.0, 3.003939900749724e-08, 9.387312189842888e-10, 1.494528735885044e-08, 3.003939900749724e-08, 5.971531286632585e-08, 3.754994496797049e-09, 7.509988993594099e-09, 3.0039955974376395e-08, 5.9437780804060566e-08, 7.447845153045584e-09, 1.861961288261396e-09, 9.287153250634463e-10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.9539243407893245e-08, 2.32575169562083e-10, 7.442405425986656e-09, 7.442405425986656e-09, 4.182826017903538e-08, 1.3071331305948557e-09, 5.228532522379423e-09, 2.091413008951769e-08, 2.7409734745291224e-08, 8.565542107903507e-10, 3.426216843161403e-09, 1.3704867372645612e-08, 2.584401215663949e-08, 8.076253798949841e-10, 1.6152507597899681e-09, 1.2922006078319745e-08, 5.3701314832285554e-08, 2.0977076106361545e-10, 3.356332177017847e-09, 2.6850657416142777e-08, 2.495013559283642e-08, 1.5593834745522874e-09, 3.8984586863807184e-10, 6.237533898209105e-09, 3.7412768375393454e-09, 9.353192093848535e-10, 2.338298023462091e-10, 2.993021470031531e-08, 1.0992897729967169e-08, 8.588201351536801e-11, 3.4352805406147206e-10, 2.7482244324917765e-09, 1.9720904995150982e-08, 6.162782810984682e-10, 2.465113124393873e-09, 1.9720904995150982e-08, 2.0751663127987298e-08, 4.053059204685019e-11, 3.242447363748118e-10, 2.5939578909984946e-09, 2.705846280284996e-08, 2.113942406472653e-10, 4.227884812945306e-10, 6.76461570071249e-09, 4.806730884305482e-08, 7.510517006727315e-10, 1.502103401345463e-09, 2.403365442152741e-08, 3.013642640292843e-08, 2.3544083127287834e-10, 1.8835266501830267e-09, 1.5068213201464214e-08, 2.5337943964710265e-08, 6.334485991177566e-09, 6.334485991177566e-09, 1.5836214977943961e-09, 2.3035587987329833e-08, 5.758896996832458e-09, 2.879448498416229e-09, 5.758896996832458e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.0208678090560474e-08, 3.743101181511879e-09, 1.4972404726047515e-08, 3.0208678090560474e-08, 0.0026958768882194175, 0.002427146974689939, 0.0018105727056065618, 0.0011817589094613023, 0.0017096471497095684, 0.0024805503720244284, 0.00017714407409114144, 0.0029295914638341643, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0006162578057056192, 0.0012713776220558187, 8.188949609179713e-05, 0.0007350882395254558, 8.446171681427163e-09, 1.0557714601783954e-09, 1.0557714601783954e-09, 4.223085840713582e-09, 2.260015900298788e-08, 3.5312748442168563e-10, 1.4125099376867425e-09, 1.1300079501494084e-08, 3.1721505332170444e-08, 4.956485208151632e-10, 9.912970416303264e-10, 1.5860752666085222e-08, 2.929991087473445e-08, 2.2890555370886235e-10, 9.156222148354494e-10, 7.324977718683595e-09, 1.634731300361654e-08, 1.2771338284075422e-10, 5.108535313630169e-10, 8.17365650180827e-09, 2.809563152795156e-08, 2.1949712131212156e-10, 1.7559769704969725e-09, 1.404781576397578e-08, 4.950187768556432e-08, 1.2375469421390757e-08, 3.8673341941847125e-10, 1.546933677673885e-09, 9.622789459279374e-09, 1.2028486824099218e-09, 6.014243412049609e-10, 1.2028486824099218e-09, 0.0, 0.0, 0.0, 0.0, 4.369615261257947e-08, 5.462019076572433e-09, 1.3655047691431083e-09, 1.0924038153144867e-08, 2.4950008725697613e-08, 7.796877726780504e-10, 1.5593755453561008e-09, 2.4950008725697613e-08, 3.4510207939381885e-08, 2.69610999526421e-10, 1.078443998105684e-09, 1.7255103969690942e-08, 4.9662390741578024e-08, 1.2415597685394506e-08, 1.2415597685394506e-08, 2.4831195370789012e-08, 3.0238825471507525e-08, 9.449632959846075e-10, 3.779853183938441e-09, 1.511941273575372e-08, 2.7058462802849993e-08, 8.455769625890623e-10, 1.6911539251781246e-09, 1.3529231401424997e-08, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24470660060181904, 0.24470660060181904, 0.024711032548141214, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.0, 0.0, 0.0, 3.0048673715629535e-18, -0.013582661747932434, 0.9286897778511047, 0.0, 0.0, 0.0, 0.08563300222158432, -0.015240063890814781, 0.0010875188745558262, -4.516878107097e-07, 0.42436906695365906, -1.7700489252092666e-06, -1.4360486488840252e-07, 0.4219217300415039, -1.2635257462534355e-06, 0.012700348161160946, 0.1335296630859375, -0.00034838198916986585, 0.012131109833717346, 0.1335911750793457, -0.0003327876329421997, -0.025248520076274872, 0.00045495989616028965, -0.0033057215623557568, -0.013496838510036469, 0.00874006375670433, -0.00021311522868927568, -4.7683720083568915e-08, 0.017963934689760208, -1.4305116202706358e-08, 0.014085246250033379, 0.018115244805812836, 0.0026048854924738407, 0.03358248621225357, 0.01647895947098732, 0.0006003189482726157, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, -3.905296125594759e-06, 0.21095934510231018, 3.2913685572566465e-06, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, 1.907348590179936e-08, 6.866455350973411e-07, 2.6226043559063328e-08, 2.9468535558407893e-06, 0.2121833860874176, -1.0156631105928682e-05, -0.08544202893972397, -0.015437878668308258, 0.0010765137849375606, 9.305869639320008e-07, 0.42439427971839905, -2.6221396183245815e-06, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 7.683411240577698e-08, 0.42191487550735474, -1.3102567208989058e-06, -0.014730469323694706, 0.1333129107952118, -0.0004041634383611381, -0.033581484109163284, 0.016480112448334694, 0.0006033301469869912, 0.025247830897569656, 0.0004530239093583077, -0.0033051325008273125, 0.01349605992436409, 0.008739289827644825, -0.00021371842012740672, -0.014084797352552414, 0.01811564527451992, 0.0026059604715555906, 2.8610228852699038e-08, 0.017964133992791176, -1.1920929132713809e-08, -0.014706363901495934, 0.13331493735313416, -0.0004034614539705217, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 3.92436959373299e-06, 0.21095584332942963, 3.3819676446000813e-06, -2.3841858265427618e-08, 7.629394644936838e-07, 2.6226043559063328e-08, -2.708434976739227e-06, 0.2121957391500473, -1.0557174391578883e-05, 7.640293188160285e-05, 0.05937811732292175, 0.0181009192019701, -1.1495446816667254e-09, 0.03692169114947319, -2.386373978424672e-07, 1.67846394560911e-08, 0.12805412709712982, -1.6645860796415946e-06, -0.00018494282267056406, 0.2661024034023285, -0.0015357156516984105, 1.1557340862111687e-08, 0.032944221049547195, -4.1634589109662556e-08, -2.187428238542566e-09, 0.03347231075167656, 5.86619179898662e-08, -3.725290215195187e-11, 0.0, 5.4836274188119205e-08, 0.01331253070384264, 0.023795414716005325, -0.0002647557412274182, 0.02985559217631817, 0.008106537163257599, -0.0005802965024486184, 0.010227947495877743, -1.5258788721439487e-07, -9.53674295089968e-09, 0.015696678310632706, -7.629394644936838e-07, 1.2069940602543738e-08, 0.030124953016638756, 0.008011169731616974, -0.0006505133933387697, 0.07486404478549957, 0.06695041805505753, -0.03188373148441315, 0.0749829113483429, 0.07058663666248322, 0.029915863648056984, 0.027485961094498634, 0.06144244968891144, -0.0007408623350784183, 0.00033634185092523694, -2.1820067559019662e-05, -2.7660281176622448e-08, 0.048639800399541855, 0.21273402869701385, -0.002246822929009795, 5.056242002865474e-07, 0.10625939071178436, -1.0114810038430733e-06, 5.841817483087652e-07, 0.26235172152519226, -7.007252861512825e-06, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, -2.593994167909841e-06, 0.11331218481063843, -4.7683716530855236e-08, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, 3.2749694582889788e-06, 0.2266693264245987, -5.0822207413148135e-05, 0.0025456140283495188, 0.07975626736879349, -0.014720885083079338, -3.5011621548619587e-06, 0.026278309524059296, -1.951944432221353e-05, -1.3310136637301184e-06, 0.014477035030722618, -4.263798018655507e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.6267141467760666e-07, 0.022826118394732475, -6.738248885085341e-06, -0.004057978745549917, 0.0812256932258606, 0.013821816071867943, 1.515103576821275e-06, 0.038638725876808167, -2.2157173589221202e-05, -2.600198740765336e-07, 0.025776276364922523, -5.409315690485528e-06, -0.004295846447348595, 0.07962453365325928, 0.03166002035140991, 6.17749901721254e-06, 0.03495091199874878, -3.660637958091684e-05, 2.9897375952714356e-06, 0.024862218648195267, -9.129057616519276e-06, 0.0029886423144489527, 0.019252674654126167, 0.0205945186316967, -1.7372560705553042e-06, 0.05110243707895279, -1.771059942257125e-05, 0.0, 0.02483726479113102, 0.0, 9.155274938166258e-07, 1.525879156361043e-07, 9.536744727256519e-09, -1.0833738997462206e-05, 0.13216368854045868, -1.2278555914235767e-05, 0.08389358222484589, 0.061939772218465805, 0.10641822963953018, 2.0027160019253643e-07, 0.019999904558062553, -3.0517577442878974e-07, -0.08391167968511581, 0.061933744698762894, 0.10640304535627365, -1.7166138377433526e-07, 0.019999904558062553, -3.814697322468419e-07, -0.048687536269426346, 0.21271587908267975, -0.0022514378651976585, -7.477972872038663e-07, 0.10623197257518768, -9.459479315410135e-07, 2.199089408350119e-07, 0.26235201954841614, -6.786692210880574e-06, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, 2.4414059680566425e-06, 0.11331336200237274, -3.337859766361362e-08, -3.498298838167102e-06, 0.22667355835437775, -4.9985941586783156e-05, -2.307446493432508e-06, 0.07940507680177689, -8.047029041335918e-06, 1.9704057194758207e-06, 0.03659361973404884, -6.978189958317671e-06, 9.346193508008582e-08, 0.022814102470874786, -1.8753473796095932e-06, 0.004059355705976486, 0.08121982216835022, 0.013825193978846073, 6.44163264951203e-07, 0.038633253425359726, -1.6884108845260926e-05, 2.4776045393082313e-07, 0.025773216038942337, -4.2091228351637255e-06, -0.005676600616425276, 0.01969880796968937, 0.01957845874130726, -7.367850230366457e-06, 0.051099348813295364, -1.5018275007605553e-05, 0.0, 0.024837836623191833, -3.814697180359872e-08, 0.004297053907066584, 0.0796256884932518, 0.03165679797530174, -5.011987468606094e-06, 0.034952353686094284, -3.074793494306505e-05, 2.575101234469912e-06, 0.024857960641384125, -7.566523891000543e-06, -0.002541684778407216, 0.07974854111671448, -0.014709856361150742, 4.522513791016536e-06, 0.02626584656536579, -1.5906523913145065e-05, 3.0737453471374465e-07, 0.01447517890483141, -3.545635536283953e-06, -4.5776371848660347e-07, 1.4305115314527939e-07, 1.4305116202706358e-08, 1.0528564416745212e-05, 0.13216370344161987, -1.2264251381566282e-05, 1.0, 0.0, 0.0, 0.0, 0.6696234345436096, 0.7426784038543701, 0.0038696657866239548, -0.0042877946980297565, 0.9890760183334351, 0.14740629494190216, 5.14507046318613e-05, -0.0006149071268737316, 0.0052300975657999516, -0.025212330743670464, -0.1800389438867569, -0.9833226203918457, -0.9998106956481934, 0.018519245088100433, 0.005957660265266895, -0.000606201880145818, -0.7519729137420654, -0.6494625210762024, 0.09769178926944733, -0.05649541690945625, 0.9914049506187439, 0.12855777144432068, 0.023155035451054573, -0.007294450420886278, -0.9914090633392334, -0.12855812907218933, -0.022969188168644905, 0.0073182471096515656, 0.9951032996177673, -0.09013382345438004, 0.04042704030871391, 0.003348370548337698, 0.9847936630249023, -0.16255776584148407, 0.05993225425481796, 0.012836587615311146, 0.9960203170776367, -0.07844223827123642, 0.04223981127142906, 0.002525907475501299, 0.9955075979232788, -0.08238422870635986, 0.046640124171972275, -0.0015490413643419743, 0.9998167753219604, -0.018469803035259247, 0.0008154921233654022, -0.004997477866709232, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.999870777130127, 5.043127657700097e-06, 0.016083139926195145, 6.626502454309957e-06, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.01316632516682148, 0.0046057007275521755, 0.1839323192834854, 0.9828398823738098, 0.9997596144676208, -0.012123573571443558, 0.01801278255879879, -0.0030515389516949654, 0.999870777130127, 5.010140739614144e-06, -0.016083141788840294, -6.619899068027735e-06, -0.7501872181892395, -0.6340523958206177, -0.18042676150798798, 0.05141042545437813, -0.991408109664917, -0.12856686115264893, 0.022966882213950157, -0.007300066761672497, 0.9998195171356201, -0.018335722386837006, -0.0008173796231858432, 0.00494206789880991, 0.9951272010803223, -0.08985631167888641, -0.04044421762228012, -0.0034929346293210983, 0.9847971200942993, -0.16253915429115295, -0.059932876378297806, -0.012804165482521057, 0.9955073595046997, -0.08238589018583298, -0.04664164409041405, 0.0015673487214371562, 0.9960149526596069, -0.07851073890924454, -0.04224039986729622, -0.0025033068377524614, 0.9914039373397827, 0.12856698036193848, -0.02315285988152027, 0.007276609074324369, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9890645742416382, 0.14747287333011627, -0.0017724466742947698, -0.00020756722369696945, 0.9709433913230896, -0.2392791211605072, -0.003653221298009157, -0.0010341766756027937, 0.9965046048164368, -0.08324361592531204, -0.006590793374925852, -0.0023621036671102047, 0.9769735932350159, 0.21323521435260773, 0.001689655939117074, -0.007101144175976515, 0.9994910359382629, 0.02048102580010891, -0.019109781831502914, 0.015260855667293072, 0.9858200550079346, -0.16368360817432404, -0.028068188577890396, 0.024060001596808434, 0.5000000596046448, 0.5, 0.5, 0.5000001192092896, 0.7071213722229004, -5.918661554460414e-05, -4.2020394175779074e-05, 0.7070924043655396, 0.9991929531097412, -0.0008850466692820191, 0.0162584837526083, 0.03672273829579353, 0.9911035895347595, -0.001878797891549766, -0.01606130786240101, 0.13210760056972504, 1.0000001192092896, 0.0, 0.0, 0.0, -8.0032208643388e-05, 1.0000001192092896, -2.2604415335081285e-06, 9.710102312965319e-05, -2.2073859327065293e-06, 0.7071067094802856, 2.0203651729389094e-06, 0.7071069478988647, -2.041386778728338e-06, 0.70710688829422, 2.18636387216975e-06, 0.70710688829422, 0.707102358341217, 2.75214079010766e-05, -3.0682804208481684e-05, 0.7071112990379333, 1.0639178981364239e-05, 1.0000001192092896, -1.0283819392498117e-05, -3.3974360121646896e-05, 0.6624316573143005, -0.019717788323760033, 0.200487419962883, -0.7215264439582825, 0.764729917049408, 0.08519706130027771, 0.13956980407238007, -0.6232575178146362, 0.9889784455299377, 0.14330695569515228, 0.03526665270328522, -0.011875889264047146, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9999998807907104, -0.0004464949597604573, 0.0004149593587499112, -0.00032448137062601745, 0.9862556457519531, -0.0038349030073732138, 0.11930494755506516, 0.11424269527196884, 0.8296571969985962, 0.029319418594241142, -0.11034275591373444, -0.5464739799499512, 0.8167128562927246, -0.03234724700450897, -0.10509669035673141, -0.5664703845977783, 0.8491476774215698, -0.030381953343749046, -0.06704210489988327, -0.5230016112327576, 0.9109166860580444, 0.004834807477891445, -0.05610771104693413, -0.4087288975715637, 0.978812038898468, -0.06442128866910934, -0.016263145953416824, 0.19368162751197815, 0.18079692125320435, -0.02694818750023842, -0.011456059291958809, -0.9830846190452576, 0.9447413682937622, 0.008259596303105354, -0.04423823207616806, -0.3247131109237671, 0.6801745891571045, -0.019451679661870003, -0.069325290620327, -0.7295054793357849, 0.9851248264312744, 0.0019035949371755123, -0.022819602862000465, -0.17030788958072662, 0.9552716612815857, -0.011597909964621067, 0.019190136343240738, -0.2948785126209259, 0.9199478626251221, 0.018202507868409157, -0.02870197221636772, -0.3905647397041321, 0.8487424850463867, -0.010078388266265392, -0.048966843634843826, -0.5264379978179932, 0.9472206830978394, 0.2062361240386963, -0.23711736500263214, -0.06336446106433868, 0.9524059295654297, -0.21207568049430847, 0.09867492318153381, 0.19547444581985474, 0.9988296627998352, 0.024530641734600067, 0.0021590054966509342, 0.04163087531924248, 0.9999992251396179, 3.134754933853401e-06, -0.0013372093671932817, 2.3774222768224718e-07, 0.9999992251396179, 1.3739227142650634e-06, 0.0013372123939916492, -7.651428239180196e-23, 1.272228587367863e-06, 7.253616331581725e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 1.2581036799019785e-06, 7.301233381440397e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 0.6637377738952637, -0.05137356370687485, -0.23270435631275177, 0.7089863419532776, 0.6648510694503784, 0.30467671155929565, 0.14350798726081848, 0.5861167907714844, 0.8792060017585754, 0.23824477195739746, -0.09558064490556717, 0.28125283122062683, 0.9999998211860657, -0.0004993415204808116, -0.0004639132530428469, 0.0003626141988206655, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9056375622749329, -0.28839969635009766, -0.059782810509204865, -0.30507519841194153, 0.9019487500190735, 0.10677024722099304, 0.10812265425920486, 0.40422534942626953, 0.7673526406288147, -0.012287676334381104, 0.05963096395134926, 0.6383283734321594, 0.8726702332496643, -0.01315120980143547, 0.043775323778390884, 0.4861660599708557, 0.9469804763793945, 0.00821638386696577, 0.04383276030421257, 0.31818103790283203, 0.8877103924751282, -0.010136278346180916, 0.0405932292342186, 0.4584972858428955, 0.8579671382904053, -0.008529904298484325, 0.06054418161511421, 0.5100529789924622, 0.9576115608215332, 0.2865719199180603, -0.006215920206159353, 0.028599880635738373, 0.9766654372215271, -0.13791273534297943, -0.06383132934570312, -0.1517576277256012, 0.99882972240448, 0.02453337050974369, -0.0021541414316743612, -0.04162808880209923, 0.9696969389915466, -0.09455666691064835, -0.030598731711506844, 0.22318285703659058, 0.7473939657211304, 0.01376531831920147, 0.04415269196033478, 0.6627693772315979, 0.8730335235595703, -0.009437115862965584, 0.04594186693429947, 0.48539960384368896, 0.8336966633796692, 0.1984526515007019, 0.19336526095867157, 0.47767797112464905, 0.8432234525680542, -0.03185613825917244, 0.09715370088815689, 0.5277504920959473, 0.8732796311378479, -0.03053598664700985, 0.06080600246787071, 0.4824448227882385, 0.9999992251396179, 3.1351989946415415e-06, 0.0013372093671932817, -1.1700296198569049e-07, 0.9999992251396179, 1.3768782309853123e-06, -0.0013372123939916492, -9.565201253280975e-08, 0.8116686940193176, 1.23296320438385, 0.029999999329447746, 0.9900026321411133, 0.0, 0.0, 0.14104892313480377, -1.3963518142700195, -1.3963518142700195, -0.042322978377342224, 0.9999999403953552, 0.30000001192092896, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 1.1399999856948853, 0.30000001192092896, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0, 3.0048673715629535e-18, -0.013582661747932434, 0.9286897778511047, 0.0, 0.0, 0.0, 0.08563300222158432, -0.015240063890814781, 0.0010875188745558262, -4.516878107097e-07, 0.42436906695365906, -1.7700486978355912e-06, -1.4360486488840252e-07, 0.4219217300415039, -1.2635252915060846e-06, 0.012700348161160946, 0.1335296630859375, -0.00034838198916986585, 0.012131109833717346, 0.1335911750793457, -0.0003327876329421997, -0.025248520076274872, 0.00045495989616028965, -0.0033057215623557568, -0.013496838510036469, 0.00874006375670433, -0.00021311522868927568, -4.7683720083568915e-08, 0.017963934689760208, -1.4305116202706358e-08, 0.014085246250033379, 0.018115244805812836, 0.0026048854924738407, 0.03358248621225357, 0.01647895947098732, 0.0006003189482726157, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, -3.905296125594759e-06, 0.21095934510231018, 3.2913685572566465e-06, -1.907348590179936e-08, 2.670288097306184e-07, 3.5762788286319847e-08, 1.907348590179936e-08, 6.866455350973411e-07, 2.6226043559063328e-08, 2.9468535558407893e-06, 0.2121833860874176, -1.0156631105928682e-05, -0.08544202893972397, -0.015437878668308258, 0.0010765137849375606, 9.305869639320008e-07, 0.42439427971839905, -2.6221396183245815e-06, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 7.683411240577698e-08, 0.42191487550735474, -1.3102562661515549e-06, -0.014730469323694706, 0.1333129107952118, -0.0004041634383611381, -0.033581484109163284, 0.016480112448334694, 0.0006033301469869912, 0.025247830897569656, 0.0004530239093583077, -0.0033051325008273125, 0.01349605992436409, 0.008739289827644825, -0.00021371842012740672, -0.014084797352552414, 0.01811564527451992, 0.0026059604715555906, 2.8610228852699038e-08, 0.017964133992791176, -1.1920929132713809e-08, -0.014706363901495934, 0.13331493735313416, -0.0004034614539705217, 1.9073489454513037e-08, 1.525879156361043e-07, 3.933907066766551e-08, 3.92436959373299e-06, 0.21095584332942963, 3.3819676446000813e-06, -2.3841858265427618e-08, 7.629394644936838e-07, 2.6226043559063328e-08, -2.708434976739227e-06, 0.2121957391500473, -1.0557174391578883e-05, 7.640293188160285e-05, 0.05937811732292175, 0.0181009192019701, -1.1495444596221205e-09, 0.03692169114947319, -2.386373978424672e-07, 1.67846394560911e-08, 0.12805412709712982, -1.6645860796415946e-06, -0.00018494282267056406, 0.2661024034023285, -0.0015357156516984105, 1.1557340862111687e-08, 0.032944221049547195, -4.16345820042352e-08, -2.187427794453356e-09, 0.03347231075167656, 5.8661925095293554e-08, -3.725290215195187e-11, 0.0, 5.4836274188119205e-08, 0.01331253070384264, 0.023795414716005325, -0.0002647557412274182, 0.02985559217631817, 0.008106537163257599, -0.0005802965024486184, 0.010227947495877743, -1.5258788721439487e-07, -9.53674295089968e-09, 0.015696678310632706, -7.629394644936838e-07, 1.2069940602543738e-08, 0.030124953016638756, 0.008011169731616974, -0.0006505133933387697, 0.07486404478549957, 0.06695041805505753, -0.03188373148441315, 0.0749829113483429, 0.07058663666248322, 0.029915863648056984, 0.027485961094498634, 0.06144244968891144, -0.0007408623350784183, 0.00033634185092523694, -2.1820067559019662e-05, -2.7660281176622448e-08, 0.048639800399541855, 0.21273402869701385, -0.002246822929009795, 5.056243139733851e-07, 0.10625939071178436, -1.0114807764693978e-06, 5.84181861995603e-07, 0.26235172152519226, -7.007251042523421e-06, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, -2.593994167909841e-06, 0.11331218481063843, -4.7683716530855236e-08, 1.0681153526093112e-06, -3.8146978909026075e-08, 4.7683720083568915e-08, 3.2749703677836806e-06, 0.2266693264245987, -5.082220013719052e-05, 0.0025456140283495188, 0.07975626736879349, -0.014720885083079338, -3.501161245367257e-06, 0.026278309524059296, -1.9519440684234723e-05, -1.331013436356443e-06, 0.014477035030722618, -4.263797109160805e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.626714715210255e-07, 0.022826118394732475, -6.738247975590639e-06, -0.004057978745549917, 0.0812256932258606, 0.013821816071867943, 1.5151038041949505e-06, 0.038638725876808167, -2.2157169951242395e-05, -2.600197603896959e-07, 0.025776276364922523, -5.409314780990826e-06, -0.004295846447348595, 0.07962453365325928, 0.03166002035140991, 6.177499926707242e-06, 0.03495091199874878, -3.660637230495922e-05, 2.9897380500187865e-06, 0.024862218648195267, -9.129055797529873e-06, 0.0029886423144489527, 0.019252674654126167, 0.0205945186316967, -1.7372556158079533e-06, 0.05110243707895279, -1.7710595784592442e-05, 0.0, 0.02483726479113102, 0.0, 9.155274938166258e-07, 1.525879156361043e-07, 9.536744727256519e-09, -1.0833738997462206e-05, 0.13216368854045868, -1.2278555914235767e-05, 0.08389358222484589, 0.061939772218465805, 0.10641822963953018, 2.0027160019253643e-07, 0.019999904558062553, -3.0517577442878974e-07, -0.08391167968511581, 0.061933744698762894, 0.10640304535627365, -1.7166138377433526e-07, 0.019999904558062553, -3.814697322468419e-07, -0.048687536269426346, 0.21271587908267975, -0.0022514378651976585, -7.477971735170286e-07, 0.10623197257518768, -9.459477041673381e-07, 2.1990896925672132e-07, 0.26235201954841614, -6.786691301385872e-06, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, -1.0681152389224735e-06, 7.629394360719743e-08, 4.7683716530855236e-08, 2.4414059680566425e-06, 0.11331336200237274, -3.337859766361362e-08, -3.498298838167102e-06, 0.22667355835437775, -4.9985941586783156e-05, -2.307446038685157e-06, 0.07940507680177689, -8.047027222346514e-06, 1.9704061742231715e-06, 0.03659361973404884, -6.978188594075618e-06, 9.346194929094054e-08, 0.022814102470874786, -1.8753471522359177e-06, 0.004059355705976486, 0.08121982216835022, 0.013825193978846073, 6.441633786380407e-07, 0.038633253425359726, -1.688410520728212e-05, 2.47760510774242e-07, 0.025773216038942337, -4.209121925669024e-06, -0.005676600616425276, 0.01969880796968937, 0.01957845874130726, -7.3678493208717555e-06, 0.051099348813295364, -1.5018271369626746e-05, 0.0, 0.024837836623191833, -3.814697180359872e-08, 0.004297053907066584, 0.0796256884932518, 0.03165679797530174, -5.011986559111392e-06, 0.034952353686094284, -3.074792766710743e-05, 2.575101689217263e-06, 0.024857960641384125, -7.566522981505841e-06, -0.002541684778407216, 0.07974854111671448, -0.014709856361150742, 4.522514700511238e-06, 0.02626584656536579, -1.5906520275166258e-05, 3.073745915571635e-07, 0.01447517890483141, -3.5456346267892513e-06, -4.5776371848660347e-07, 1.4305115314527939e-07, 1.4305116202706358e-08, 1.0528564416745212e-05, 0.13216370344161987, -1.2264251381566282e-05, 1.0, 0.0, 0.0, 0.0, 0.6696235537528992, 0.7426785230636597, 0.0038696664851158857, -0.004287793766707182, 0.9890760183334351, 0.14740629494190216, 5.14507046318613e-05, -0.0006149071268737316, 0.005230098497122526, -0.025212325155735016, -0.1800389140844345, -0.9833224415779114, -0.999810516834259, 0.018519248813390732, 0.005957661662250757, -0.0006062017637304962, -0.7519727349281311, -0.6494624018669128, 0.09769181162118912, -0.05649540573358536, 0.9914049506187439, 0.12855777144432068, 0.023155035451054573, -0.007294450420886278, -0.9914089441299438, -0.12855811417102814, -0.022969186305999756, 0.00731824804097414, 0.9951032996177673, -0.09013382345438004, 0.04042704030871391, 0.003348370548337698, 0.9847936630249023, -0.16255776584148407, 0.05993225425481796, 0.012836587615311146, 0.9960203170776367, -0.07844223827123642, 0.04223981127142906, 0.002525907475501299, 0.9955075979232788, -0.08238422870635986, 0.046640124171972275, -0.0015490413643419743, 0.9998167753219604, -0.018469803035259247, 0.0008154921233654022, -0.004997477866709232, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.999870777130127, 5.043127657700097e-06, 0.016083139926195145, 6.626502454309957e-06, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.013166327960789204, 0.00460570165887475, 0.1839323490858078, 0.9828400611877441, 0.9997597932815552, -0.012123570777475834, 0.01801278628408909, -0.0030515382532030344, 0.999870777130127, 5.010140739614144e-06, -0.016083141788840294, -6.619899068027735e-06, -0.7501870393753052, -0.6340522766113281, -0.1804267317056656, 0.05141043663024902, -0.991408109664917, -0.12856686115264893, 0.022966882213950157, -0.007300066761672497, 0.9998195171356201, -0.018335722386837006, -0.0008173796231858432, 0.00494206789880991, 0.9951272010803223, -0.08985631167888641, -0.04044421762228012, -0.0034929346293210983, 0.9847971200942993, -0.16253915429115295, -0.059932876378297806, -0.012804165482521057, 0.9955073595046997, -0.08238589018583298, -0.04664164409041405, 0.0015673487214371562, 0.9960149526596069, -0.07851073890924454, -0.04224039986729622, -0.0025033068377524614, 0.9914039373397827, 0.12856698036193848, -0.02315285988152027, 0.007276609074324369, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9890646934509277, 0.14747288823127747, -0.0017724464414641261, -0.000207567194593139, 0.9709435701370239, -0.23927907645702362, -0.0036532205995172262, -0.00103417644277215, 0.9965047836303711, -0.08324360102415085, -0.00659079197794199, -0.0023621032014489174, 0.9769737124443054, 0.21323524415493011, 0.0016896561719477177, -0.00710114324465394, 0.9994912147521973, 0.020481029525399208, -0.019109778106212616, 0.015260858461260796, 0.9858202338218689, -0.16368357837200165, -0.02806818298995495, 0.02406000718474388, 0.5000000596046448, 0.5, 0.5, 0.5000001192092896, 0.7071213722229004, -5.918661554460414e-05, -4.2020394175779074e-05, 0.7070924043655396, 0.9991929531097412, -0.0008850466692820191, 0.0162584837526083, 0.03672273829579353, 0.9911035895347595, -0.001878797891549766, -0.01606130786240101, 0.13210760056972504, 1.0000001192092896, 0.0, 0.0, 0.0, -8.0032208643388e-05, 1.0000001192092896, -2.2604415335081285e-06, 9.710102312965319e-05, -2.207385705332854e-06, 0.7071067690849304, 2.020365400312585e-06, 0.7071070075035095, -2.0413865513546625e-06, 0.7071069478988647, 2.1863640995434253e-06, 0.7071069478988647, 0.7071024179458618, 2.7521411539055407e-05, -3.068280057050288e-05, 0.7071113586425781, 1.0639178981364239e-05, 1.0000001192092896, -1.0283819392498117e-05, -3.3974360121646896e-05, 0.6624317765235901, -0.019717784598469734, 0.20048746466636658, -0.7215263247489929, 0.7647300958633423, 0.0851970762014389, 0.13956983387470245, -0.6232573986053467, 0.9889786243438721, 0.14330698549747467, 0.035266660153865814, -0.011875886470079422, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9999998807907104, -0.0004464949597604573, 0.0004149593587499112, -0.00032448137062601745, 0.9862558245658875, -0.003834902308881283, 0.11930496990680695, 0.11424271762371063, 0.8296573162078857, 0.02931942231953144, -0.11034274101257324, -0.5464739203453064, 0.8167129755020142, -0.032347243279218674, -0.10509667545557022, -0.5664703249931335, 0.8491477966308594, -0.030381949618458748, -0.06704209744930267, -0.5230015516281128, 0.910916805267334, 0.0048348079435527325, -0.05610770359635353, -0.40872883796691895, 0.9788121581077576, -0.06442128121852875, -0.016263144090771675, 0.19368165731430054, 0.18079693615436554, -0.02694818377494812, -0.011456058360636234, -0.983084499835968, 0.9447414875030518, 0.008259597234427929, -0.04423822835087776, -0.3247130811214447, 0.6801746487617493, -0.019451677799224854, -0.0693252831697464, -0.7295054197311401, 0.985124945640564, 0.001903595170006156, -0.022819600999355316, -0.17030787467956543, 0.9552717804908752, -0.011597909033298492, 0.019190138205885887, -0.2948784828186035, 0.9199479818344116, 0.018202509731054306, -0.028701968491077423, -0.3905646800994873, 0.8487426042556763, -0.010078387334942818, -0.04896683618426323, -0.5264379382133484, 0.9472208023071289, 0.20623615384101868, -0.23711733520030975, -0.06336445361375809, 0.9524060487747192, -0.21207565069198608, 0.09867493808269501, 0.19547447562217712, 0.9988296627998352, 0.024530641734600067, 0.0021590054966509342, 0.04163087531924248, 0.9999992251396179, 3.134754933853401e-06, -0.0013372093671932817, 2.3774222768224718e-07, 0.9999992251396179, 1.3739227142650634e-06, 0.0013372123939916492, -7.651428239180196e-23, 1.272228587367863e-06, 7.253616331581725e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 1.2581036799019785e-06, 7.301233381440397e-06, 0.6382178664207458, 0.7698559761047363, 1.0000001192092896, 0.0, 0.0, 0.0, 0.6637378931045532, -0.05137355253100395, -0.2327043116092682, 0.7089864611625671, 0.736915647983551, 0.3708493113517761, 0.19464823603630066, 0.6185111999511719, 0.9246624112129211, 0.3022820055484772, -0.09087096899747849, 0.3568821847438812, 0.9999998211860657, -0.0004993415204808116, -0.0004639132530428469, 0.0003626141988206655, 1.0000001192092896, 0.0, 0.0, 0.0, 1.0000001192092896, 0.0, 0.0, 0.0, 0.9204893112182617, -0.2567905783653259, -0.057390592992305756, -0.2888995110988617, 0.901948869228363, 0.10677026212215424, 0.10812266916036606, 0.4042254090309143, 0.7673527598381042, -0.012287674471735954, 0.059630971401929855, 0.6383284330368042, 0.8726703524589539, -0.013151207938790321, 0.04377532750368118, 0.4861661195755005, 0.9469805955886841, 0.008216384798288345, 0.04383276402950287, 0.3181810677051544, 0.8877105116844177, -0.010136277414858341, 0.040593232959508896, 0.4584973454475403, 0.8579672574996948, -0.00852990336716175, 0.06054418906569481, 0.5100530385971069, 0.9576116800308228, 0.2865719497203827, -0.006215919274836779, 0.02859988436102867, 0.9766655564308167, -0.13791272044181824, -0.06383132189512253, -0.15175761282444, 0.99882972240448, 0.02453337050974369, -0.0021541414316743612, -0.04162808880209923, 0.9696970582008362, -0.09455665200948715, -0.030598727986216545, 0.22318288683891296, 0.7473940253257751, 0.013765320181846619, 0.044152695685625076, 0.6627694368362427, 0.8730336427688599, -0.00943711493164301, 0.04594187065958977, 0.48539966344833374, 0.8336967825889587, 0.1984526813030243, 0.19336529076099396, 0.4776780307292938, 0.8432235717773438, -0.03185613453388214, 0.09715371578931808, 0.527750551700592, 0.8732797503471375, -0.03053598292171955, 0.06080600991845131, 0.4824448823928833, 0.9999992251396179, 3.1351989946415415e-06, 0.0013372093671932817, -1.1700296198569049e-07, 0.9999992251396179, 1.3768782309853123e-06, -0.0013372123939916492, -9.565201253280975e-08, 0.8116686940193176, 1.23296320438385, 0.029999999329447746, 0.9900026321411133, 0.0, 0.0, 0.14104892313480377, -0.7003676295280457, -0.7003676295280457, 0.08227137476205826, 0.9999999403953552, 0.30000001192092896, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 1.1399999856948853, 0.30000001192092896, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "count": [1982]}, "action.command": {"mean": [-2.856579303741455, -1.9561210870742798, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3646288209606987, 0.37705708322761883, 0.20650858881041473, 0.8304018599172347, -0.07660165997262736, 0.5530556419856163, 0.05791966946630713, -0.13983185162357673, 0.3333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2257312111405705, 0.7623480700853512, 0.3875828281560624, 0.24516649190178097, 0.23828524254850128, 0.7232645112759487, 0.11389000453906785, 0.269242678418605, 0.4714045207910316], "min": [-2.856579303741455, -1.9561210870742798, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -2.4692842960357666, -1.5503675937652588, 0.7012686729431152, -0.4226105511188507, -0.9961947202682495, -0.0010971864685416222, -0.71234130859375, 0.0], "max": [-2.856579303741455, -1.9561210870742798, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7332560420036316, 0.7470923662185669, 1.3033586740493774, 0.2951928973197937, 0.9962311387062073, 0.2900395095348358, -0.0, 1.0], "count": [1982]}, "action.applied": {"mean": [0.04558322759012492, -0.0001284300709588737, -0.0066156680824345036, -0.022075758296598587, -1.4502354515669444, -0.23896749168169173, 1.7483833312056019, -0.42698921900632, 0.12172540202013224, 0.7773057798557345, 0.0008323978459768891, -0.0008323978459768891], "std": [0.10485464653783605, 0.0024585768896170685, 0.0664340726047524, 0.21067147889716342, 0.10993241029999834, 0.1960508730373573, 0.7545295413793323, 0.29179657056089764, 1.5619379831602285, 0.497978536718474, 0.01318215435107577, 0.01318215435107577], "min": [0.0, -0.0214511901140213, -0.800000011920929, -0.16732163727283478, -1.7240797281265259, -0.8145157694816589, 0.4884633719921112, -1.4004391431808472, -0.9658197164535522, -0.0008528952021151781, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.00949989352375269, 0.2531524896621704, 0.8570899367332458, -1.3389592170715332, 0.08858396112918854, 2.4112441539764404, 0.05351616442203522, 2.700291395187378, 1.7243356704711914, 0.020833000540733337, 0.009999999776482582], "count": [1982]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1982]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1982]}, "sim_step_idx": {"mean": [2042.0], "std": [1144.3080878854262], "min": [61.0], "max": [4023.0], "count": [1982]}, "timestamp": {"mean": [39.62000000199414], "std": [22.886161757537295], "min": [0.0], "max": [79.23999786376953], "count": [1982]}, "frame_index": {"mean": [990.5], "std": [572.1540439427131], "min": [0.0], "max": [1981.0], "count": [1982]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1982]}, "index": {"mean": [990.5], "std": [572.1540439427131], "min": [0.0], "max": [1981.0], "count": [1982]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1982]}, "next.done": {"mean": [0.0005045408678102926], "std": [0.022456319963943375], "min": [0.0], "max": [1.0], "count": [1982]}, "observation.images.head": {"mean": [[[0.4445165544744343]], [[0.38774700062936235]], [[0.3580790169684155]]], "std": [[[0.20534857352666996]], [[0.2087221698341109]], [[0.19946978134970236]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9098039215686274]], [[0.9019607843137255]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.515331616995682]], [[0.4515154797980503]], [[0.4034429225419837]]], "std": [[[0.1647489129573149]], [[0.1779384963452342]], [[0.1943470996769629]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9098039215686274]], [[0.9019607843137255]], [[0.9019607843137255]]], "count": [100]}}}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,264 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MobileToolTask",
+ "subsample_every": 2,
+ "control_steps": 3963,
+ "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": [
+      4.589125540263162,
+      -0.02537445354923562,
+      0.2199999984075104
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000000000002,
+       1.0,
+       0.9999999999999998
+      ],
+      "center": [
+       -1.1102230246251565e-16,
+       -2.7755575615628914e-17,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "dial_console_1",
+     "cat_name": "dial_console",
+     "inst_id": 1,
+     "noun": "dial console",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      4.467592228580311,
+      0.04412126121583297,
+      0.4699999693586625
+     ],
+     "bbox": {
+      "extent": [
+       0.19000000007450601,
+       0.36000001430511475,
+       0.3400000035762787
+      ],
+      "center": [
+       0.004999941103160321,
+       0.0,
+       0.17000000000000004
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_a_1",
+     "relation": "right_of",
+     "object": "dial_console_1"
+    },
+    {
+     "subject": "dial_console_1",
+     "relation": "on_top_of",
+     "object": "table_a_1"
+    },
+    {
+     "subject": "dial_console_1",
+     "relation": "left_of",
+     "object": "table_a_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": [
+      3.6386071388395114,
+      0.17257080682154458,
+      -0.10500000471393173
+     ],
+     "viewpoint": "front, 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": [
+      3.50248982154121,
+      0.250405995447207,
+      -0.03000000408759714
+     ],
+     "viewpoint": "front, 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": [
+       -2.856579592276365,
+       -1.9561295554080862,
+       0.06
+      ],
+      "ori": [
+       0.9665379524230957,
+       0.0,
+       0.0,
+       0.2565237581729889
+      ]
+     },
+     "facing_yaw_deg": 29.727788197335716,
+     "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 a. There are a large gray table a and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[dial console]        [table a]\n\n\n\n\n\n\n\n                   [robot]"
+  },
+  "task": {
+   "task_type": "MobileToolTask",
+   "instruction": "Go to the control panel and turn the big knob to the mark the person is pointing at.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N028",
+   "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
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,978 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1982,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                731
+            ],
+            "names": [
+                "avatar_motion.Person.joint_pos.0",
+                "avatar_motion.Person.joint_pos.1",
+                "avatar_motion.Person.joint_pos.2",
+                "avatar_motion.Person.joint_pos.3",
+                "avatar_motion.Person.joint_pos.4",
+                "avatar_motion.Person.joint_pos.5",
+                "avatar_motion.Person.joint_pos.6",
+                "avatar_motion.Person.joint_pos.7",
+                "avatar_motion.Person.joint_pos.8",
+                "avatar_motion.Person.joint_pos.9",
+                "avatar_motion.Person.joint_pos.10",
+                "avatar_motion.Person.joint_pos.11",
+                "avatar_motion.Person.joint_pos.12",
+                "avatar_motion.Person.joint_pos.13",
+                "avatar_motion.Person.joint_pos.14",
+                "avatar_motion.Person.joint_pos.15",
+                "avatar_motion.Person.joint_pos.16",
+                "avatar_motion.Person.joint_pos.17",
+                "avatar_motion.Person.joint_pos.18",
+                "avatar_motion.Person.joint_pos.19",
+                "avatar_motion.Person.joint_pos.20",
+                "avatar_motion.Person.joint_pos.21",
+                "avatar_motion.Person.joint_pos.22",
+                "avatar_motion.Person.joint_pos.23",
+                "avatar_motion.Person.joint_pos.24",
+                "avatar_motion.Person.joint_pos.25",
+                "avatar_motion.Person.joint_pos.26",
+                "avatar_motion.Person.joint_pos.27",
+                "avatar_motion.Person.joint_pos.28",
+                "avatar_motion.Person.joint_pos.29",
+                "avatar_motion.Person.joint_pos.30",
+                "avatar_motion.Person.joint_pos.31",
+                "avatar_motion.Person.joint_pos.32",
+                "avatar_motion.Person.joint_pos.33",
+                "avatar_motion.Person.joint_pos.34",
+                "avatar_motion.Person.joint_pos.35",
+                "avatar_motion.Person.joint_pos.36",
+                "avatar_motion.Person.joint_pos.37",
+                "avatar_motion.Person.joint_pos.38",
+                "avatar_motion.Person.joint_pos.39",
+                "avatar_motion.Person.joint_pos.40",
+                "avatar_motion.Person.joint_pos.41",
+                "avatar_motion.Person.joint_pos.42",
+                "avatar_motion.Person.joint_pos.43",
+                "avatar_motion.Person.joint_pos.44",
+                "avatar_motion.Person.joint_pos.45",
+                "avatar_motion.Person.joint_pos.46",
+                "avatar_motion.Person.joint_pos.47",
+                "avatar_motion.Person.joint_pos.48",
+                "avatar_motion.Person.joint_pos.49",
+                "avatar_motion.Person.joint_pos.50",
+                "avatar_motion.Person.joint_pos.51",
+                "avatar_motion.Person.joint_pos.52",
+                "avatar_motion.Person.joint_pos.53",
+                "avatar_motion.Person.joint_pos.54",
+                "avatar_motion.Person.joint_pos.55",
+                "avatar_motion.Person.joint_pos.56",
+                "avatar_motion.Person.joint_pos.57",
+                "avatar_motion.Person.joint_pos.58",
+                "avatar_motion.Person.joint_pos.59",
+                "avatar_motion.Person.joint_pos.60",
+                "avatar_motion.Person.joint_pos.61",
+                "avatar_motion.Person.joint_pos.62",
+                "avatar_motion.Person.joint_pos.63",
+                "avatar_motion.Person.joint_pos.64",
+                "avatar_motion.Person.joint_pos.65",
+                "avatar_motion.Person.joint_pos.66",
+                "avatar_motion.Person.joint_pos.67",
+                "avatar_motion.Person.joint_pos.68",
+                "avatar_motion.Person.joint_pos.69",
+                "avatar_motion.Person.joint_pos.70",
+                "avatar_motion.Person.joint_pos.71",
+                "avatar_motion.Person.joint_pos.72",
+                "avatar_motion.Person.joint_pos.73",
+                "avatar_motion.Person.joint_pos.74",
+                "avatar_motion.Person.joint_pos.75",
+                "avatar_motion.Person.joint_pos.76",
+                "avatar_motion.Person.joint_pos.77",
+                "avatar_motion.Person.joint_pos.78",
+                "avatar_motion.Person.joint_pos.79",
+                "avatar_motion.Person.joint_pos.80",
+                "avatar_motion.Person.joint_pos.81",
+                "avatar_motion.Person.joint_pos.82",
+                "avatar_motion.Person.joint_pos.83",
+                "avatar_motion.Person.joint_pos.84",
+                "avatar_motion.Person.joint_pos.85",
+                "avatar_motion.Person.joint_pos.86",
+                "avatar_motion.Person.joint_pos.87",
+                "avatar_motion.Person.joint_pos.88",
+                "avatar_motion.Person.joint_pos.89",
+                "avatar_motion.Person.joint_pos.90",
+                "avatar_motion.Person.joint_pos.91",
+                "avatar_motion.Person.joint_pos.92",
+                "avatar_motion.Person.joint_pos.93",
+                "avatar_motion.Person.joint_pos.94",
+                "avatar_motion.Person.joint_pos.95",
+                "avatar_motion.Person.joint_pos.96",
+                "avatar_motion.Person.joint_pos.97",
+                "avatar_motion.Person.joint_pos.98",
+                "avatar_motion.Person.joint_pos.99",
+                "avatar_motion.Person.joint_pos.100",
+                "avatar_motion.Person.joint_pos.101",
+                "avatar_motion.Person.joint_pos.102",
+                "avatar_motion.Person.joint_pos.103",
+                "avatar_motion.Person.joint_pos.104",
+                "avatar_motion.Person.joint_pos.105",
+                "avatar_motion.Person.joint_pos.106",
+                "avatar_motion.Person.joint_pos.107",
+                "avatar_motion.Person.joint_pos.108",
+                "avatar_motion.Person.joint_pos.109",
+                "avatar_motion.Person.joint_pos.110",
+                "avatar_motion.Person.joint_pos.111",
+                "avatar_motion.Person.joint_pos.112",
+                "avatar_motion.Person.joint_pos.113",
+                "avatar_motion.Person.joint_pos.114",
+                "avatar_motion.Person.joint_pos.115",
+                "avatar_motion.Person.joint_pos.116",
+                "avatar_motion.Person.joint_pos.117",
+                "avatar_motion.Person.joint_pos.118",
+                "avatar_motion.Person.joint_pos.119",
+                "avatar_motion.Person.joint_pos.120",
+                "avatar_motion.Person.joint_pos.121",
+                "avatar_motion.Person.joint_pos.122",
+                "avatar_motion.Person.joint_pos.123",
+                "avatar_motion.Person.joint_pos.124",
+                "avatar_motion.Person.joint_pos.125",
+                "avatar_motion.Person.joint_pos.126",
+                "avatar_motion.Person.joint_pos.127",
+                "avatar_motion.Person.joint_pos.128",
+                "avatar_motion.Person.joint_pos.129",
+                "avatar_motion.Person.joint_pos.130",
+                "avatar_motion.Person.joint_pos.131",
+                "avatar_motion.Person.joint_pos.132",
+                "avatar_motion.Person.joint_pos.133",
+                "avatar_motion.Person.joint_pos.134",
+                "avatar_motion.Person.joint_pos.135",
+                "avatar_motion.Person.joint_pos.136",
+                "avatar_motion.Person.joint_pos.137",
+                "avatar_motion.Person.joint_pos.138",
+                "avatar_motion.Person.joint_pos.139",
+                "avatar_motion.Person.joint_pos.140",
+                "avatar_motion.Person.joint_pos.141",
+                "avatar_motion.Person.joint_pos.142",
+                "avatar_motion.Person.joint_pos.143",
+                "avatar_motion.Person.joint_pos.144",
+                "avatar_motion.Person.joint_pos.145",
+                "avatar_motion.Person.joint_pos.146",
+                "avatar_motion.Person.joint_pos.147",
+                "avatar_motion.Person.joint_pos.148",
+                "avatar_motion.Person.joint_pos.149",
+                "avatar_motion.Person.joint_pos.150",
+                "avatar_motion.Person.joint_pos.151",
+                "avatar_motion.Person.joint_pos.152",
+                "avatar_motion.Person.joint_pos.153",
+                "avatar_motion.Person.joint_pos.154",
+                "avatar_motion.Person.joint_pos.155",
+                "avatar_motion.Person.joint_pos.156",
+                "avatar_motion.Person.joint_pos.157",
+                "avatar_motion.Person.joint_pos.158",
+                "avatar_motion.Person.joint_pos.159",
+                "avatar_motion.Person.joint_pos.160",
+                "avatar_motion.Person.joint_pos.161",
+                "avatar_motion.Person.joint_pos.162",
+                "avatar_motion.Person.joint_pos.163",
+                "avatar_motion.Person.joint_pos.164",
+                "avatar_motion.Person.joint_pos.165",
+                "avatar_motion.Person.joint_pos.166",
+                "avatar_motion.Person.joint_pos.167",
+                "avatar_motion.Person.joint_pos.168",
+                "avatar_motion.Person.joint_pos.169",
+                "avatar_motion.Person.joint_pos.170",
+                "avatar_motion.Person.joint_pos.171",
+                "avatar_motion.Person.joint_pos.172",
+                "avatar_motion.Person.joint_pos.173",
+                "avatar_motion.Person.joint_pos.174",
+                "avatar_motion.Person.joint_pos.175",
+                "avatar_motion.Person.joint_pos.176",
+                "avatar_motion.Person.joint_pos.177",
+                "avatar_motion.Person.joint_pos.178",
+                "avatar_motion.Person.joint_pos.179",
+                "avatar_motion.Person.joint_pos.180",
+                "avatar_motion.Person.joint_pos.181",
+                "avatar_motion.Person.joint_pos.182",
+                "avatar_motion.Person.joint_pos.183",
+                "avatar_motion.Person.joint_pos.184",
+                "avatar_motion.Person.joint_pos.185",
+                "avatar_motion.Person.joint_pos.186",
+                "avatar_motion.Person.joint_pos.187",
+                "avatar_motion.Person.joint_pos.188",
+                "avatar_motion.Person.joint_pos.189",
+                "avatar_motion.Person.joint_pos.190",
+                "avatar_motion.Person.joint_pos.191",
+                "avatar_motion.Person.joint_pos.192",
+                "avatar_motion.Person.joint_pos.193",
+                "avatar_motion.Person.joint_pos.194",
+                "avatar_motion.Person.joint_pos.195",
+                "avatar_motion.Person.joint_pos.196",
+                "avatar_motion.Person.joint_pos.197",
+                "avatar_motion.Person.joint_pos.198",
+                "avatar_motion.Person.joint_pos.199",
+                "avatar_motion.Person.joint_pos.200",
+                "avatar_motion.Person.joint_pos.201",
+                "avatar_motion.Person.joint_pos.202",
+                "avatar_motion.Person.joint_pos.203",
+                "avatar_motion.Person.joint_pos.204",
+                "avatar_motion.Person.joint_pos.205",
+                "avatar_motion.Person.joint_pos.206",
+                "avatar_motion.Person.joint_pos.207",
+                "avatar_motion.Person.joint_pos.208",
+                "avatar_motion.Person.joint_pos.209",
+                "avatar_motion.Person.joint_pos.210",
+                "avatar_motion.Person.joint_pos.211",
+                "avatar_motion.Person.joint_pos.212",
+                "avatar_motion.Person.joint_pos.213",
+                "avatar_motion.Person.joint_pos.214",
+                "avatar_motion.Person.joint_pos.215",
+                "avatar_motion.Person.joint_pos.216",
+                "avatar_motion.Person.joint_pos.217",
+                "avatar_motion.Person.joint_pos.218",
+                "avatar_motion.Person.joint_pos.219",
+                "avatar_motion.Person.joint_pos.220",
+                "avatar_motion.Person.joint_pos.221",
+                "avatar_motion.Person.joint_pos.222",
+                "avatar_motion.Person.joint_pos.223",
+                "avatar_motion.Person.joint_pos.224",
+                "avatar_motion.Person.joint_pos.225",
+                "avatar_motion.Person.joint_pos.226",
+                "avatar_motion.Person.joint_pos.227",
+                "avatar_motion.Person.joint_pos.228",
+                "avatar_motion.Person.joint_pos.229",
+                "avatar_motion.Person.joint_pos.230",
+                "avatar_motion.Person.joint_pos.231",
+                "avatar_motion.Person.joint_pos.232",
+                "avatar_motion.Person.joint_pos.233",
+                "avatar_motion.Person.joint_pos.234",
+                "avatar_motion.Person.joint_pos.235",
+                "avatar_motion.Person.joint_pos.236",
+                "avatar_motion.Person.joint_pos.237",
+                "avatar_motion.Person.joint_pos.238",
+                "avatar_motion.Person.joint_pos.239",
+                "avatar_motion.Person.joint_pos.240",
+                "avatar_motion.Person.joint_pos.241",
+                "avatar_motion.Person.joint_pos.242",
+                "avatar_motion.Person.joint_pos.243",
+                "avatar_motion.Person.joint_pos.244",
+                "avatar_motion.Person.joint_pos.245",
+                "avatar_motion.Person.joint_pos.246",
+                "avatar_motion.Person.joint_pos.247",
+                "avatar_motion.Person.joint_pos.248",
+                "avatar_motion.Person.joint_pos.249",
+                "avatar_motion.Person.joint_pos.250",
+                "avatar_motion.Person.joint_pos.251",
+                "avatar_motion.Person.joint_pos.252",
+                "avatar_motion.Person.joint_pos.253",
+                "avatar_motion.Person.joint_pos.254",
+                "avatar_motion.Person.joint_pos.255",
+                "avatar_motion.Person.joint_pos.256",
+                "avatar_motion.Person.joint_pos.257",
+                "avatar_motion.Person.joint_pos.258",
+                "avatar_motion.Person.joint_pos.259",
+                "avatar_motion.Person.joint_pos.260",
+                "avatar_motion.Person.joint_pos.261",
+                "avatar_motion.Person.joint_pos.262",
+                "avatar_motion.Person.joint_pos.263",
+                "avatar_motion.Person.joint_pos.264",
+                "avatar_motion.Person.joint_pos.265",
+                "avatar_motion.Person.joint_pos.266",
+                "avatar_motion.Person.joint_pos.267",
+                "avatar_motion.Person.joint_pos.268",
+                "avatar_motion.Person.joint_pos.269",
+                "avatar_motion.Person.joint_pos.270",
+                "avatar_motion.Person.joint_pos.271",
+                "avatar_motion.Person.joint_pos.272",
+                "avatar_motion.Person.joint_pos.273",
+                "avatar_motion.Person.joint_pos.274",
+                "avatar_motion.Person.joint_pos.275",
+                "avatar_motion.Person.joint_pos.276",
+                "avatar_motion.Person.joint_pos.277",
+                "avatar_motion.Person.joint_pos.278",
+                "avatar_motion.Person.joint_pos.279",
+                "avatar_motion.Person.joint_pos.280",
+                "avatar_motion.Person.joint_pos.281",
+                "avatar_motion.Person.joint_pos.282",
+                "avatar_motion.Person.joint_pos.283",
+                "avatar_motion.Person.joint_pos.284",
+                "avatar_motion.Person.joint_pos.285",
+                "avatar_motion.Person.joint_pos.286",
+                "avatar_motion.Person.joint_pos.287",
+                "avatar_motion.Person.joint_pos.288",
+                "avatar_motion.Person.joint_pos.289",
+                "avatar_motion.Person.joint_pos.290",
+                "avatar_motion.Person.joint_pos.291",
+                "avatar_motion.Person.joint_pos.292",
+                "avatar_motion.Person.joint_pos.293",
+                "avatar_motion.Person.joint_pos.294",
+                "avatar_motion.Person.joint_pos.295",
+                "avatar_motion.Person.joint_pos.296",
+                "avatar_motion.Person.joint_pos.297",
+                "avatar_motion.Person.joint_pos.298",
+                "avatar_motion.Person.joint_pos.299",
+                "avatar_motion.Person.joint_pos.300",
+                "avatar_motion.Person.joint_pos.301",
+                "avatar_motion.Person.joint_pos.302",
+                "avatar_motion.Person.joint_rot.0",
+                "avatar_motion.Person.joint_rot.1",
+                "avatar_motion.Person.joint_rot.2",
+                "avatar_motion.Person.joint_rot.3",
+                "avatar_motion.Person.joint_rot.4",
+                "avatar_motion.Person.joint_rot.5",
+                "avatar_motion.Person.joint_rot.6",
+                "avatar_motion.Person.joint_rot.7",
+                "avatar_motion.Person.joint_rot.8",
+                "avatar_motion.Person.joint_rot.9",
+                "avatar_motion.Person.joint_rot.10",
+                "avatar_motion.Person.joint_rot.11",
+                "avatar_motion.Person.joint_rot.12",
+                "avatar_motion.Person.joint_rot.13",
+                "avatar_motion.Person.joint_rot.14",
+                "avatar_motion.Person.joint_rot.15",
+                "avatar_motion.Person.joint_rot.16",
+                "avatar_motion.Person.joint_rot.17",
+                "avatar_motion.Person.joint_rot.18",
+                "avatar_motion.Person.joint_rot.19",
+                "avatar_motion.Person.joint_rot.20",
+                "avatar_motion.Person.joint_rot.21",
+                "avatar_motion.Person.joint_rot.22",
+                "avatar_motion.Person.joint_rot.23",
+                "avatar_motion.Person.joint_rot.24",
+                "avatar_motion.Person.joint_rot.25",
+                "avatar_motion.Person.joint_rot.26",
+                "avatar_motion.Person.joint_rot.27",
+                "avatar_motion.Person.joint_rot.28",
+                "avatar_motion.Person.joint_rot.29",
+                "avatar_motion.Person.joint_rot.30",
+                "avatar_motion.Person.joint_rot.31",
+                "avatar_motion.Person.joint_rot.32",
+                "avatar_motion.Person.joint_rot.33",
+                "avatar_motion.Person.joint_rot.34",
+                "avatar_motion.Person.joint_rot.35",
+                "avatar_motion.Person.joint_rot.36",
+                "avatar_motion.Person.joint_rot.37",
+                "avatar_motion.Person.joint_rot.38",
+                "avatar_motion.Person.joint_rot.39",
+                "avatar_motion.Person.joint_rot.40",
+                "avatar_motion.Person.joint_rot.41",
+                "avatar_motion.Person.joint_rot.42",
+                "avatar_motion.Person.joint_rot.43",
+                "avatar_motion.Person.joint_rot.44",
+                "avatar_motion.Person.joint_rot.45",
+                "avatar_motion.Person.joint_rot.46",
+                "avatar_motion.Person.joint_rot.47",
+                "avatar_motion.Person.joint_rot.48",
+                "avatar_motion.Person.joint_rot.49",
+                "avatar_motion.Person.joint_rot.50",
+                "avatar_motion.Person.joint_rot.51",
+                "avatar_motion.Person.joint_rot.52",
+                "avatar_motion.Person.joint_rot.53",
+                "avatar_motion.Person.joint_rot.54",
+                "avatar_motion.Person.joint_rot.55",
+                "avatar_motion.Person.joint_rot.56",
+                "avatar_motion.Person.joint_rot.57",
+                "avatar_motion.Person.joint_rot.58",
+                "avatar_motion.Person.joint_rot.59",
+                "avatar_motion.Person.joint_rot.60",
+                "avatar_motion.Person.joint_rot.61",
+                "avatar_motion.Person.joint_rot.62",
+                "avatar_motion.Person.joint_rot.63",
+                "avatar_motion.Person.joint_rot.64",
+                "avatar_motion.Person.joint_rot.65",
+                "avatar_motion.Person.joint_rot.66",
+                "avatar_motion.Person.joint_rot.67",
+                "avatar_motion.Person.joint_rot.68",
+                "avatar_motion.Person.joint_rot.69",
+                "avatar_motion.Person.joint_rot.70",
+                "avatar_motion.Person.joint_rot.71",
+                "avatar_motion.Person.joint_rot.72",
+                "avatar_motion.Person.joint_rot.73",
+                "avatar_motion.Person.joint_rot.74",
+                "avatar_motion.Person.joint_rot.75",
+                "avatar_motion.Person.joint_rot.76",
+                "avatar_motion.Person.joint_rot.77",
+                "avatar_motion.Person.joint_rot.78",
+                "avatar_motion.Person.joint_rot.79",
+                "avatar_motion.Person.joint_rot.80",
+                "avatar_motion.Person.joint_rot.81",
+                "avatar_motion.Person.joint_rot.82",
+                "avatar_motion.Person.joint_rot.83",
+                "avatar_motion.Person.joint_rot.84",
+                "avatar_motion.Person.joint_rot.85",
+                "avatar_motion.Person.joint_rot.86",
+                "avatar_motion.Person.joint_rot.87",
+                "avatar_motion.Person.joint_rot.88",
+                "avatar_motion.Person.joint_rot.89",
+                "avatar_motion.Person.joint_rot.90",
+                "avatar_motion.Person.joint_rot.91",
+                "avatar_motion.Person.joint_rot.92",
+                "avatar_motion.Person.joint_rot.93",
+                "avatar_motion.Person.joint_rot.94",
+                "avatar_motion.Person.joint_rot.95",
+                "avatar_motion.Person.joint_rot.96",
+                "avatar_motion.Person.joint_rot.97",
+                "avatar_motion.Person.joint_rot.98",
+                "avatar_motion.Person.joint_rot.99",
+                "avatar_motion.Person.joint_rot.100",
+                "avatar_motion.Person.joint_rot.101",
+                "avatar_motion.Person.joint_rot.102",
+                "avatar_motion.Person.joint_rot.103",
+                "avatar_motion.Person.joint_rot.104",
+                "avatar_motion.Person.joint_rot.105",
+                "avatar_motion.Person.joint_rot.106",
+                "avatar_motion.Person.joint_rot.107",
+                "avatar_motion.Person.joint_rot.108",
+                "avatar_motion.Person.joint_rot.109",
+                "avatar_motion.Person.joint_rot.110",
+                "avatar_motion.Person.joint_rot.111",
+                "avatar_motion.Person.joint_rot.112",
+                "avatar_motion.Person.joint_rot.113",
+                "avatar_motion.Person.joint_rot.114",
+                "avatar_motion.Person.joint_rot.115",
+                "avatar_motion.Person.joint_rot.116",
+                "avatar_motion.Person.joint_rot.117",
+                "avatar_motion.Person.joint_rot.118",
+                "avatar_motion.Person.joint_rot.119",
+                "avatar_motion.Person.joint_rot.120",
+                "avatar_motion.Person.joint_rot.121",
+                "avatar_motion.Person.joint_rot.122",
+                "avatar_motion.Person.joint_rot.123",
+                "avatar_motion.Person.joint_rot.124",
+                "avatar_motion.Person.joint_rot.125",
+                "avatar_motion.Person.joint_rot.126",
+                "avatar_motion.Person.joint_rot.127",
+                "avatar_motion.Person.joint_rot.128",
+                "avatar_motion.Person.joint_rot.129",
+                "avatar_motion.Person.joint_rot.130",
+                "avatar_motion.Person.joint_rot.131",
+                "avatar_motion.Person.joint_rot.132",
+                "avatar_motion.Person.joint_rot.133",
+                "avatar_motion.Person.joint_rot.134",
+                "avatar_motion.Person.joint_rot.135",
+                "avatar_motion.Person.joint_rot.136",
+                "avatar_motion.Person.joint_rot.137",
+                "avatar_motion.Person.joint_rot.138",
+                "avatar_motion.Person.joint_rot.139",
+                "avatar_motion.Person.joint_rot.140",
+                "avatar_motion.Person.joint_rot.141",
+                "avatar_motion.Person.joint_rot.142",
+                "avatar_motion.Person.joint_rot.143",
+                "avatar_motion.Person.joint_rot.144",
+                "avatar_motion.Person.joint_rot.145",
+                "avatar_motion.Person.joint_rot.146",
+                "avatar_motion.Person.joint_rot.147",
+                "avatar_motion.Person.joint_rot.148",
+                "avatar_motion.Person.joint_rot.149",
+                "avatar_motion.Person.joint_rot.150",
+                "avatar_motion.Person.joint_rot.151",
+                "avatar_motion.Person.joint_rot.152",
+                "avatar_motion.Person.joint_rot.153",
+                "avatar_motion.Person.joint_rot.154",
+                "avatar_motion.Person.joint_rot.155",
+                "avatar_motion.Person.joint_rot.156",
+                "avatar_motion.Person.joint_rot.157",
+                "avatar_motion.Person.joint_rot.158",
+                "avatar_motion.Person.joint_rot.159",
+                "avatar_motion.Person.joint_rot.160",
+                "avatar_motion.Person.joint_rot.161",
+                "avatar_motion.Person.joint_rot.162",
+                "avatar_motion.Person.joint_rot.163",
+                "avatar_motion.Person.joint_rot.164",
+                "avatar_motion.Person.joint_rot.165",
+                "avatar_motion.Person.joint_rot.166",
+                "avatar_motion.Person.joint_rot.167",
+                "avatar_motion.Person.joint_rot.168",
+                "avatar_motion.Person.joint_rot.169",
+                "avatar_motion.Person.joint_rot.170",
+                "avatar_motion.Person.joint_rot.171",
+                "avatar_motion.Person.joint_rot.172",
+                "avatar_motion.Person.joint_rot.173",
+                "avatar_motion.Person.joint_rot.174",
+                "avatar_motion.Person.joint_rot.175",
+                "avatar_motion.Person.joint_rot.176",
+                "avatar_motion.Person.joint_rot.177",
+                "avatar_motion.Person.joint_rot.178",
+                "avatar_motion.Person.joint_rot.179",
+                "avatar_motion.Person.joint_rot.180",
+                "avatar_motion.Person.joint_rot.181",
+                "avatar_motion.Person.joint_rot.182",
+                "avatar_motion.Person.joint_rot.183",
+                "avatar_motion.Person.joint_rot.184",
+                "avatar_motion.Person.joint_rot.185",
+                "avatar_motion.Person.joint_rot.186",
+                "avatar_motion.Person.joint_rot.187",
+                "avatar_motion.Person.joint_rot.188",
+                "avatar_motion.Person.joint_rot.189",
+                "avatar_motion.Person.joint_rot.190",
+                "avatar_motion.Person.joint_rot.191",
+                "avatar_motion.Person.joint_rot.192",
+                "avatar_motion.Person.joint_rot.193",
+                "avatar_motion.Person.joint_rot.194",
+                "avatar_motion.Person.joint_rot.195",
+                "avatar_motion.Person.joint_rot.196",
+                "avatar_motion.Person.joint_rot.197",
+                "avatar_motion.Person.joint_rot.198",
+                "avatar_motion.Person.joint_rot.199",
+                "avatar_motion.Person.joint_rot.200",
+                "avatar_motion.Person.joint_rot.201",
+                "avatar_motion.Person.joint_rot.202",
+                "avatar_motion.Person.joint_rot.203",
+                "avatar_motion.Person.joint_rot.204",
+                "avatar_motion.Person.joint_rot.205",
+                "avatar_motion.Person.joint_rot.206",
+                "avatar_motion.Person.joint_rot.207",
+                "avatar_motion.Person.joint_rot.208",
+                "avatar_motion.Person.joint_rot.209",
+                "avatar_motion.Person.joint_rot.210",
+                "avatar_motion.Person.joint_rot.211",
+                "avatar_motion.Person.joint_rot.212",
+                "avatar_motion.Person.joint_rot.213",
+                "avatar_motion.Person.joint_rot.214",
+                "avatar_motion.Person.joint_rot.215",
+                "avatar_motion.Person.joint_rot.216",
+                "avatar_motion.Person.joint_rot.217",
+                "avatar_motion.Person.joint_rot.218",
+                "avatar_motion.Person.joint_rot.219",
+                "avatar_motion.Person.joint_rot.220",
+                "avatar_motion.Person.joint_rot.221",
+                "avatar_motion.Person.joint_rot.222",
+                "avatar_motion.Person.joint_rot.223",
+                "avatar_motion.Person.joint_rot.224",
+                "avatar_motion.Person.joint_rot.225",
+                "avatar_motion.Person.joint_rot.226",
+                "avatar_motion.Person.joint_rot.227",
+                "avatar_motion.Person.joint_rot.228",
+                "avatar_motion.Person.joint_rot.229",
+                "avatar_motion.Person.joint_rot.230",
+                "avatar_motion.Person.joint_rot.231",
+                "avatar_motion.Person.joint_rot.232",
+                "avatar_motion.Person.joint_rot.233",
+                "avatar_motion.Person.joint_rot.234",
+                "avatar_motion.Person.joint_rot.235",
+                "avatar_motion.Person.joint_rot.236",
+                "avatar_motion.Person.joint_rot.237",
+                "avatar_motion.Person.joint_rot.238",
+                "avatar_motion.Person.joint_rot.239",
+                "avatar_motion.Person.joint_rot.240",
+                "avatar_motion.Person.joint_rot.241",
+                "avatar_motion.Person.joint_rot.242",
+                "avatar_motion.Person.joint_rot.243",
+                "avatar_motion.Person.joint_rot.244",
+                "avatar_motion.Person.joint_rot.245",
+                "avatar_motion.Person.joint_rot.246",
+                "avatar_motion.Person.joint_rot.247",
+                "avatar_motion.Person.joint_rot.248",
+                "avatar_motion.Person.joint_rot.249",
+                "avatar_motion.Person.joint_rot.250",
+                "avatar_motion.Person.joint_rot.251",
+                "avatar_motion.Person.joint_rot.252",
+                "avatar_motion.Person.joint_rot.253",
+                "avatar_motion.Person.joint_rot.254",
+                "avatar_motion.Person.joint_rot.255",
+                "avatar_motion.Person.joint_rot.256",
+                "avatar_motion.Person.joint_rot.257",
+                "avatar_motion.Person.joint_rot.258",
+                "avatar_motion.Person.joint_rot.259",
+                "avatar_motion.Person.joint_rot.260",
+                "avatar_motion.Person.joint_rot.261",
+                "avatar_motion.Person.joint_rot.262",
+                "avatar_motion.Person.joint_rot.263",
+                "avatar_motion.Person.joint_rot.264",
+                "avatar_motion.Person.joint_rot.265",
+                "avatar_motion.Person.joint_rot.266",
+                "avatar_motion.Person.joint_rot.267",
+                "avatar_motion.Person.joint_rot.268",
+                "avatar_motion.Person.joint_rot.269",
+                "avatar_motion.Person.joint_rot.270",
+                "avatar_motion.Person.joint_rot.271",
+                "avatar_motion.Person.joint_rot.272",
+                "avatar_motion.Person.joint_rot.273",
+                "avatar_motion.Person.joint_rot.274",
+                "avatar_motion.Person.joint_rot.275",
+                "avatar_motion.Person.joint_rot.276",
+                "avatar_motion.Person.joint_rot.277",
+                "avatar_motion.Person.joint_rot.278",
+                "avatar_motion.Person.joint_rot.279",
+                "avatar_motion.Person.joint_rot.280",
+                "avatar_motion.Person.joint_rot.281",
+                "avatar_motion.Person.joint_rot.282",
+                "avatar_motion.Person.joint_rot.283",
+                "avatar_motion.Person.joint_rot.284",
+                "avatar_motion.Person.joint_rot.285",
+                "avatar_motion.Person.joint_rot.286",
+                "avatar_motion.Person.joint_rot.287",
+                "avatar_motion.Person.joint_rot.288",
+                "avatar_motion.Person.joint_rot.289",
+                "avatar_motion.Person.joint_rot.290",
+                "avatar_motion.Person.joint_rot.291",
+                "avatar_motion.Person.joint_rot.292",
+                "avatar_motion.Person.joint_rot.293",
+                "avatar_motion.Person.joint_rot.294",
+                "avatar_motion.Person.joint_rot.295",
+                "avatar_motion.Person.joint_rot.296",
+                "avatar_motion.Person.joint_rot.297",
+                "avatar_motion.Person.joint_rot.298",
+                "avatar_motion.Person.joint_rot.299",
+                "avatar_motion.Person.joint_rot.300",
+                "avatar_motion.Person.joint_rot.301",
+                "avatar_motion.Person.joint_rot.302",
+                "avatar_motion.Person.joint_rot.303",
+                "avatar_motion.Person.joint_rot.304",
+                "avatar_motion.Person.joint_rot.305",
+                "avatar_motion.Person.joint_rot.306",
+                "avatar_motion.Person.joint_rot.307",
+                "avatar_motion.Person.joint_rot.308",
+                "avatar_motion.Person.joint_rot.309",
+                "avatar_motion.Person.joint_rot.310",
+                "avatar_motion.Person.joint_rot.311",
+                "avatar_motion.Person.joint_rot.312",
+                "avatar_motion.Person.joint_rot.313",
+                "avatar_motion.Person.joint_rot.314",
+                "avatar_motion.Person.joint_rot.315",
+                "avatar_motion.Person.joint_rot.316",
+                "avatar_motion.Person.joint_rot.317",
+                "avatar_motion.Person.joint_rot.318",
+                "avatar_motion.Person.joint_rot.319",
+                "avatar_motion.Person.joint_rot.320",
+                "avatar_motion.Person.joint_rot.321",
+                "avatar_motion.Person.joint_rot.322",
+                "avatar_motion.Person.joint_rot.323",
+                "avatar_motion.Person.joint_rot.324",
+                "avatar_motion.Person.joint_rot.325",
+                "avatar_motion.Person.joint_rot.326",
+                "avatar_motion.Person.joint_rot.327",
+                "avatar_motion.Person.joint_rot.328",
+                "avatar_motion.Person.joint_rot.329",
+                "avatar_motion.Person.joint_rot.330",
+                "avatar_motion.Person.joint_rot.331",
+                "avatar_motion.Person.joint_rot.332",
+                "avatar_motion.Person.joint_rot.333",
+                "avatar_motion.Person.joint_rot.334",
+                "avatar_motion.Person.joint_rot.335",
+                "avatar_motion.Person.joint_rot.336",
+                "avatar_motion.Person.joint_rot.337",
+                "avatar_motion.Person.joint_rot.338",
+                "avatar_motion.Person.joint_rot.339",
+                "avatar_motion.Person.joint_rot.340",
+                "avatar_motion.Person.joint_rot.341",
+                "avatar_motion.Person.joint_rot.342",
+                "avatar_motion.Person.joint_rot.343",
+                "avatar_motion.Person.joint_rot.344",
+                "avatar_motion.Person.joint_rot.345",
+                "avatar_motion.Person.joint_rot.346",
+                "avatar_motion.Person.joint_rot.347",
+                "avatar_motion.Person.joint_rot.348",
+                "avatar_motion.Person.joint_rot.349",
+                "avatar_motion.Person.joint_rot.350",
+                "avatar_motion.Person.joint_rot.351",
+                "avatar_motion.Person.joint_rot.352",
+                "avatar_motion.Person.joint_rot.353",
+                "avatar_motion.Person.joint_rot.354",
+                "avatar_motion.Person.joint_rot.355",
+                "avatar_motion.Person.joint_rot.356",
+                "avatar_motion.Person.joint_rot.357",
+                "avatar_motion.Person.joint_rot.358",
+                "avatar_motion.Person.joint_rot.359",
+                "avatar_motion.Person.joint_rot.360",
+                "avatar_motion.Person.joint_rot.361",
+                "avatar_motion.Person.joint_rot.362",
+                "avatar_motion.Person.joint_rot.363",
+                "avatar_motion.Person.joint_rot.364",
+                "avatar_motion.Person.joint_rot.365",
+                "avatar_motion.Person.joint_rot.366",
+                "avatar_motion.Person.joint_rot.367",
+                "avatar_motion.Person.joint_rot.368",
+                "avatar_motion.Person.joint_rot.369",
+                "avatar_motion.Person.joint_rot.370",
+                "avatar_motion.Person.joint_rot.371",
+                "avatar_motion.Person.joint_rot.372",
+                "avatar_motion.Person.joint_rot.373",
+                "avatar_motion.Person.joint_rot.374",
+                "avatar_motion.Person.joint_rot.375",
+                "avatar_motion.Person.joint_rot.376",
+                "avatar_motion.Person.joint_rot.377",
+                "avatar_motion.Person.joint_rot.378",
+                "avatar_motion.Person.joint_rot.379",
+                "avatar_motion.Person.joint_rot.380",
+                "avatar_motion.Person.joint_rot.381",
+                "avatar_motion.Person.joint_rot.382",
+                "avatar_motion.Person.joint_rot.383",
+                "avatar_motion.Person.joint_rot.384",
+                "avatar_motion.Person.joint_rot.385",
+                "avatar_motion.Person.joint_rot.386",
+                "avatar_motion.Person.joint_rot.387",
+                "avatar_motion.Person.joint_rot.388",
+                "avatar_motion.Person.joint_rot.389",
+                "avatar_motion.Person.joint_rot.390",
+                "avatar_motion.Person.joint_rot.391",
+                "avatar_motion.Person.joint_rot.392",
+                "avatar_motion.Person.joint_rot.393",
+                "avatar_motion.Person.joint_rot.394",
+                "avatar_motion.Person.joint_rot.395",
+                "avatar_motion.Person.joint_rot.396",
+                "avatar_motion.Person.joint_rot.397",
+                "avatar_motion.Person.joint_rot.398",
+                "avatar_motion.Person.joint_rot.399",
+                "avatar_motion.Person.joint_rot.400",
+                "avatar_motion.Person.joint_rot.401",
+                "avatar_motion.Person.joint_rot.402",
+                "avatar_motion.Person.joint_rot.403",
+                "avatar_motion.Person.root.0",
+                "avatar_motion.Person.root.1",
+                "avatar_motion.Person.root.2",
+                "avatar_motion.Person.root.3",
+                "avatar_motion.Person.root.4",
+                "avatar_motion.Person.root.5",
+                "avatar_motion.Person.root.6",
+                "fixture.0",
+                "object_joint_pos.dial_console.0",
+                "object_joint_vel.dial_console.0",
+                "object_pose.dial_console.0",
+                "object_pose.dial_console.1",
+                "object_pose.dial_console.2",
+                "object_pose.dial_console.3",
+                "object_pose.dial_console.4",
+                "object_pose.dial_console.5",
+                "object_pose.dial_console.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 22:13:42"
+    },
+    "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
+            ]
+        }
+    },
+    "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": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the control panel and turn the big knob to the mark the person is pointing at."}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/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 sha256:672721bd67f88bb6d4800269edd602cb74064dcb7fafabe4b784a6f8c5bd423c
+size 38447256

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/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:d5c62bbef6bf87db62276ddd1da3651bbdf0d88d9454c6d803d5b156b655d654
+size 26050054

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/run_meta.json

@@ -0,0 +1,671 @@
+{
+    "run_id": "mobiletooltask/000",
+    "created": "2026-11-07 21:59:27",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n028_saw_on_2044/out/data",
+        "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,
+                "seed": 2044,
+                "soft_resets": 100,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 12
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -2.856579592276365,
+                                -1.9561295554080862,
+                                0.06
+                            ],
+                            [
+                                -2.856579592276365,
+                                -1.9561295554080862,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                29.727788086947943
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                29.727788086947943
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.03,
+                                "goal_yaw_threshold": 0.04,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "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": [
+                                1.14,
+                                0.3,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.52,
+                                0.8,
+                                0.5
+                            ]
+                        },
+                        "table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "dial_console": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/MobileTool/DialConsole/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.0,
+                                0.3,
+                                0.53
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ]
+                        },
+                        "dial_console_1": {
+                            "physics": {
+                                "type": "articulation",
+                                "enabled_self_collisions": true,
+                                "solver_position_iteration_count": 32,
+                                "solver_velocity_iteration_count": 4
+                            }
+                        }
+                    }
+                }
+            },
+            "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
+                }
+            },
+            "anim": {
+                "avatar": {
+                    "graph": "magic",
+                    "Person": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
+                                0.8213552596704896,
+                                1.2191815715625194,
+                                0.03
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                16.389540334034788
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 30
+            },
+            "mobile_tool": {
+                "task_version": "EXT60-MobileAvatar-v3",
+                "agent_id": "a06",
+                "embodiment": "sawyer_umi",
+                "level": "easy",
+                "truncate_on_violation": true,
+                "task_id": "N028",
+                "frame": [
+                    1.0,
+                    0.3,
+                    0.0
+                ],
+                "table_top_z": 0.53,
+                "start_zone": 1,
+                "avatar": {
+                    "enabled": true,
+                    "collision": true,
+                    "side": "R"
+                },
+                "script": {
+                    "roll_step_deg": 15.0,
+                    "turn_steps": 8,
+                    "observe_ticks": 40,
+                    "stem_back": 0.035,
+                    "grasp_back_wall": 0.0756,
+                    "pre_mouth_high": 0.1,
+                    "progress_ticks": 50,
+                    "hand_for_tool": true,
+                    "floor_gap": 0.002,
+                    "leg_servo": true,
+                    "descend_segments": 4,
+                    "pull_segments": 3,
+                    "hand_ref_quat": [
+                        0.706,
+                        0.035,
+                        -0.034,
+                        0.706
+                    ]
+                },
+                "stance": {
+                    "lateral": 0.78
+                },
+                "settle": {
+                    "enabled": true,
+                    "steps": [
+                        "approach",
+                        "over_mouth",
+                        "over_ring",
+                        "descend",
+                        "descend_1",
+                        "descend_2",
+                        "descend_3",
+                        "descend_4"
+                    ],
+                    "tol": 0.004,
+                    "tries": 4,
+                    "max_offset": 0.05,
+                    "min_gain": 0.002,
+                    "plateau_ticks": 150,
+                    "skip_ticks": 30
+                },
+                "avatar_shift": [
+                    0.07135525967048957,
+                    0.06918157156251946
+                ],
+                "dr": {
+                    "seed": 2044,
+                    "spawn_dxy": [
+                        0.14342040772363535,
+                        0.04387044459191375
+                    ],
+                    "spawn_dyaw_deg": -15.272211913052057,
+                    "friction_scale": 1.1076986061333485,
+                    "mass_scale": 0.9981074023931145,
+                    "start_zone": 1,
+                    "avatar_shift": [
+                        0.07135525967048957,
+                        0.06918157156251946
+                    ]
+                }
+            },
+            "command": {
+                "MobileToolTask": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 60,
+                    "final_wait_ticks": 150,
+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "turn_knob",
+                            "skill": "ToolScript",
+                            "script": "turn_knob"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "carry_arm": true,
+                    "translation_threshold": 0.04,
+                    "rotation_threshold": 0.06,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.006,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 3.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "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": 240,
+                    "interp_validate_target": false,
+                    "retry_mobile_on_locked_plan_failure": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToStation": {
+                    "robot_id": 0,
+                    "position_offset": 0.0,
+                    "position_threshold": 0.12,
+                    "angle_threshold": 0.1
+                },
+                "ToolScript": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                }
+            },
+            "auto_collect": {
+                "task_type": "mobile_tool",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n028_saw_on_2044/out/data",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "MobileToolTask": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 60,
+                    "final_wait_ticks": 150,
+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "turn_knob",
+                            "skill": "ToolScript",
+                            "script": "turn_knob"
+                        }
+                    ]
+                }
+            }
+        },
+        "env_string": "DialTurnEnv-V0",
+        "levels": {
+            "easy": {},
+            "medium": {
+                "task": {
+                    "mobile_tool": {
+                        "level": "medium"
+                    }
+                }
+            },
+            "hard": {
+                "task": {
+                    "mobile_tool": {
+                        "level": "hard",
+                        "frame": [
+                            1.0,
+                            0.3,
+                            20.0
+                        ]
+                    }
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "dot_?",
+                "pointer",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec5c382c7a2d317d4339820bc6e4ce8ca7fb8f0cdbf35f622ebb653c7916754
+size 289756

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,1657 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "mobiletooltask/000",
+    "task_type": "MobileToolTask",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.14,
+                                    0.3,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.52,
+                                    0.8,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "dial_console": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/MobileTool/DialConsole/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.0,
+                                    0.30000001192092896,
+                                    0.5299999713897705
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "enabled_self_collisions": true,
+                                    "solver_position_iteration_count": 32.0,
+                                    "solver_velocity_iteration_count": 4.0,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    -1.3962633609771729
+                                ],
+                                "joint_velocity": [
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -2.856579542160034,
+                        -1.956129550933838,
+                        0.05999999865889549,
+                        0.9665378928184509,
+                        0.0,
+                        0.0,
+                        0.2565237581729889
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "avatars": {
+            "Person_1": {
+                "cat": "Person",
+                "inst_id": 1,
+                "asset": [
+                    "usd",
+                    "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
+                "scale": [
+                    1.0,
+                    1.0,
+                    1.0
+                ],
+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
+                    "pose": {
+                        "pos": [
+                            0.8116686940193176,
+                            1.23296320438385,
+                            0.029999999329447746
+                        ],
+                        "ori": [
+                            0.9900026321411133,
+                            0.0,
+                            0.0,
+                            0.14104892313480377
+                        ],
+                        "scale": [
+                            1.0,
+                            1.0,
+                            1.0
+                        ]
+                    },
+                    "type_specific": {
+                        "action_queue": {
+                            "queue": [],
+                            "loop": false,
+                            "current": null
+                        },
+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
+                        },
+                        "control_state": {
+                            "mode": "ik",
+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
+                            "positions": [
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    3.0048659239968815e-18,
+                                    -0.013582655228674412,
+                                    0.9286893606185913
+                                ],
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.08563300222158432,
+                                    -0.015240063890814781,
+                                    0.0010875188745558262
+                                ],
+                                [
+                                    -4.516878107097e-07,
+                                    0.42436906695365906,
+                                    -1.7700488115224289e-06
+                                ],
+                                [
+                                    -1.4360486488840252e-07,
+                                    0.4219217300415039,
+                                    -1.26352551887976e-06
+                                ],
+                                [
+                                    0.012700348161160946,
+                                    0.1335296630859375,
+                                    -0.00034838198916986585
+                                ],
+                                [
+                                    0.012131109833717346,
+                                    0.1335911750793457,
+                                    -0.0003327876329421997
+                                ],
+                                [
+                                    -0.025248520076274872,
+                                    0.00045495989616028965,
+                                    -0.0033057215623557568
+                                ],
+                                [
+                                    -0.013496838510036469,
+                                    0.00874006375670433,
+                                    -0.00021311522868927568
+                                ],
+                                [
+                                    -4.7683720083568915e-08,
+                                    0.017963934689760208,
+                                    -1.4305116202706358e-08
+                                ],
+                                [
+                                    0.014085246250033379,
+                                    0.018115244805812836,
+                                    0.0026048854924738407
+                                ],
+                                [
+                                    0.03358248621225357,
+                                    0.01647895947098732,
+                                    0.0006003189482726157
+                                ],
+                                [
+                                    -1.907348590179936e-08,
+                                    2.670288097306184e-07,
+                                    3.5762788286319847e-08
+                                ],
+                                [
+                                    -3.905296125594759e-06,
+                                    0.21095934510231018,
+                                    3.2913685572566465e-06
+                                ],
+                                [
+                                    -1.907348590179936e-08,
+                                    2.670288097306184e-07,
+                                    3.5762788286319847e-08
+                                ],
+                                [
+                                    1.907348590179936e-08,
+                                    6.866455350973411e-07,
+                                    2.6226043559063328e-08
+                                ],
+                                [
+                                    2.9468535558407893e-06,
+                                    0.2121833860874176,
+                                    -1.0156631105928682e-05
+                                ],
+                                [
+                                    -0.08544202893972397,
+                                    -0.015437878668308258,
+                                    0.0010765137849375606
+                                ],
+                                [
+                                    9.305869639320008e-07,
+                                    0.42439427971839905,
+                                    -2.6221396183245815e-06
+                                ],
+                                [
+                                    1.9073489454513037e-08,
+                                    1.525879156361043e-07,
+                                    3.933907066766551e-08
+                                ],
+                                [
+                                    7.683411240577698e-08,
+                                    0.42191487550735474,
+                                    -1.3102564935252303e-06
+                                ],
+                                [
+                                    -0.014730469323694706,
+                                    0.1333129107952118,
+                                    -0.0004041634383611381
+                                ],
+                                [
+                                    -0.033581484109163284,
+                                    0.016480112448334694,
+                                    0.0006033301469869912
+                                ],
+                                [
+                                    0.025247830897569656,
+                                    0.0004530239093583077,
+                                    -0.0033051325008273125
+                                ],
+                                [
+                                    0.01349605992436409,
+                                    0.008739289827644825,
+                                    -0.00021371842012740672
+                                ],
+                                [
+                                    -0.014084797352552414,
+                                    0.01811564527451992,
+                                    0.0026059604715555906
+                                ],
+                                [
+                                    2.8610228852699038e-08,
+                                    0.017964133992791176,
+                                    -1.1920929132713809e-08
+                                ],
+                                [
+                                    -0.014706363901495934,
+                                    0.13331493735313416,
+                                    -0.0004034614539705217
+                                ],
+                                [
+                                    1.9073489454513037e-08,
+                                    1.525879156361043e-07,
+                                    3.933907066766551e-08
+                                ],
+                                [
+                                    3.92436959373299e-06,
+                                    0.21095584332942963,
+                                    3.3819676446000813e-06
+                                ],
+                                [
+                                    -2.3841858265427618e-08,
+                                    7.629394644936838e-07,
+                                    2.6226043559063328e-08
+                                ],
+                                [
+                                    -2.708434976739227e-06,
+                                    0.2121957391500473,
+                                    -1.0557174391578883e-05
+                                ],
+                                [
+                                    7.640293188160285e-05,
+                                    0.05937811732292175,
+                                    0.0181009192019701
+                                ],
+                                [
+                                    -1.149544570644423e-09,
+                                    0.03692169114947319,
+                                    -2.386373978424672e-07
+                                ],
+                                [
+                                    1.67846394560911e-08,
+                                    0.12805412709712982,
+                                    -1.6645860796415946e-06
+                                ],
+                                [
+                                    -0.00018494282267056406,
+                                    0.2661024034023285,
+                                    -0.0015357156516984105
+                                ],
+                                [
+                                    1.1557340862111687e-08,
+                                    0.032944221049547195,
+                                    -4.163458555694888e-08
+                                ],
+                                [
+                                    -2.187428016497961e-09,
+                                    0.03347231075167656,
+                                    5.8661921542579876e-08
+                                ],
+                                [
+                                    -3.725290215195187e-11,
+                                    0.0,
+                                    5.4836274188119205e-08
+                                ],
+                                [
+                                    0.01331253070384264,
+                                    0.023795414716005325,
+                                    -0.0002647557412274182
+                                ],
+                                [
+                                    0.02985559217631817,
+                                    0.008106537163257599,
+                                    -0.0005802965024486184
+                                ],
+                                [
+                                    0.010227947495877743,
+                                    -1.5258788721439487e-07,
+                                    -9.53674295089968e-09
+                                ],
+                                [
+                                    0.015696678310632706,
+                                    -7.629394644936838e-07,
+                                    1.2069940602543738e-08
+                                ],
+                                [
+                                    0.030124953016638756,
+                                    0.008011169731616974,
+                                    -0.0006505133933387697
+                                ],
+                                [
+                                    0.07486404478549957,
+                                    0.06695041805505753,
+                                    -0.03188373148441315
+                                ],
+                                [
+                                    0.0749829113483429,
+                                    0.07058663666248322,
+                                    0.029915863648056984
+                                ],
+                                [
+                                    0.027485961094498634,
+                                    0.06144244968891144,
+                                    -0.0007408623350784183
+                                ],
+                                [
+                                    0.00033634185092523694,
+                                    -2.1820067559019662e-05,
+                                    -2.7660281176622448e-08
+                                ],
+                                [
+                                    0.048639800399541855,
+                                    0.21273402869701385,
+                                    -0.002246822929009795
+                                ],
+                                [
+                                    5.056242571299663e-07,
+                                    0.10625939071178436,
+                                    -1.0114808901562355e-06
+                                ],
+                                [
+                                    5.841818051521841e-07,
+                                    0.26235172152519226,
+                                    -7.007251952018123e-06
+                                ],
+                                [
+                                    1.0681153526093112e-06,
+                                    -3.8146978909026075e-08,
+                                    4.7683720083568915e-08
+                                ],
+                                [
+                                    -2.593994167909841e-06,
+                                    0.11331218481063843,
+                                    -4.7683716530855236e-08
+                                ],
+                                [
+                                    1.0681153526093112e-06,
+                                    -3.8146978909026075e-08,
+                                    4.7683720083568915e-08
+                                ],
+                                [
+                                    3.2749699130363297e-06,
+                                    0.2266693264245987,
+                                    -5.082220377516933e-05
+                                ],
+                                [
+                                    0.0025456140283495188,
+                                    0.07975626736879349,
+                                    -0.014720885083079338
+                                ],
+                                [
+                                    -3.501161700114608e-06,
+                                    0.026278309524059296,
+                                    -1.9519442503224127e-05
+                                ],
+                                [
+                                    -1.3310135500432807e-06,
+                                    0.014477035030722618,
+                                    -4.263797563908156e-06
+                                ],
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    3.626714430993161e-07,
+                                    0.022826118394732475,
+                                    -6.73824843033799e-06
+                                ],
+                                [
+                                    -0.004057978745549917,
+                                    0.0812256932258606,
+                                    0.013821816071867943
+                                ],
+                                [
+                                    1.5151036905081128e-06,
+                                    0.038638725876808167,
+                                    -2.2157171770231798e-05
+                                ],
+                                [
+                                    -2.6001981723311474e-07,
+                                    0.025776276364922523,
+                                    -5.409315235738177e-06
+                                ],
+                                [
+                                    -0.004295846447348595,
+                                    0.07962453365325928,
+                                    0.03166002035140991
+                                ],
+                                [
+                                    6.177499471959891e-06,
+                                    0.03495091199874878,
+                                    -3.660637594293803e-05
+                                ],
+                                [
+                                    2.989737822645111e-06,
+                                    0.024862218648195267,
+                                    -9.129056707024574e-06
+                                ],
+                                [
+                                    0.0029886423144489527,
+                                    0.019252674654126167,
+                                    0.0205945186316967
+                                ],
+                                [
+                                    -1.7372558431816287e-06,
+                                    0.05110243707895279,
+                                    -1.7710597603581846e-05
+                                ],
+                                [
+                                    0.0,
+                                    0.02483726479113102,
+                                    0.0
+                                ],
+                                [
+                                    9.155274938166258e-07,
+                                    1.525879156361043e-07,
+                                    9.536744727256519e-09
+                                ],
+                                [
+                                    -1.0833738997462206e-05,
+                                    0.13216368854045868,
+                                    -1.2278555914235767e-05
+                                ],
+                                [
+                                    0.08389358222484589,
+                                    0.061939772218465805,
+                                    0.10641822963953018
+                                ],
+                                [
+                                    2.0027160019253643e-07,
+                                    0.019999904558062553,
+                                    -3.0517577442878974e-07
+                                ],
+                                [
+                                    -0.08391167968511581,
+                                    0.061933744698762894,
+                                    0.10640304535627365
+                                ],
+                                [
+                                    -1.7166138377433526e-07,
+                                    0.019999904558062553,
+                                    -3.814697322468419e-07
+                                ],
+                                [
+                                    -0.048687536269426346,
+                                    0.21271587908267975,
+                                    -0.0022514378651976585
+                                ],
+                                [
+                                    -7.477972303604474e-07,
+                                    0.10623197257518768,
+                                    -9.459478178541758e-07
+                                ],
+                                [
+                                    2.199089550458666e-07,
+                                    0.26235201954841614,
+                                    -6.786691756133223e-06
+                                ],
+                                [
+                                    -1.0681152389224735e-06,
+                                    7.629394360719743e-08,
+                                    4.7683716530855236e-08
+                                ],
+                                [
+                                    -1.0681152389224735e-06,
+                                    7.629394360719743e-08,
+                                    4.7683716530855236e-08
+                                ],
+                                [
+                                    2.4414059680566425e-06,
+                                    0.11331336200237274,
+                                    -3.337859766361362e-08
+                                ],
+                                [
+                                    -3.498298838167102e-06,
+                                    0.22667355835437775,
+                                    -4.9985941586783156e-05
+                                ],
+                                [
+                                    -2.3074462660588324e-06,
+                                    0.07940507680177689,
+                                    -8.047028131841216e-06
+                                ],
+                                [
+                                    1.970405946849496e-06,
+                                    0.03659361973404884,
+                                    -6.978189048822969e-06
+                                ],
+                                [
+                                    9.346194218551318e-08,
+                                    0.022814102470874786,
+                                    -1.8753472659227555e-06
+                                ],
+                                [
+                                    0.004059355705976486,
+                                    0.08121982216835022,
+                                    0.013825193978846073
+                                ],
+                                [
+                                    6.441633217946219e-07,
+                                    0.038633253425359726,
+                                    -1.6884107026271522e-05
+                                ],
+                                [
+                                    2.4776048235253256e-07,
+                                    0.025773216038942337,
+                                    -4.209122380416375e-06
+                                ],
+                                [
+                                    -0.005676600616425276,
+                                    0.01969880796968937,
+                                    0.01957845874130726
+                                ],
+                                [
+                                    -7.367849775619106e-06,
+                                    0.051099348813295364,
+                                    -1.5018273188616149e-05
+                                ],
+                                [
+                                    0.0,
+                                    0.024837836623191833,
+                                    -3.814697180359872e-08
+                                ],
+                                [
+                                    0.004297053907066584,
+                                    0.0796256884932518,
+                                    0.03165679797530174
+                                ],
+                                [
+                                    -5.011987013858743e-06,
+                                    0.034952353686094284,
+                                    -3.074793130508624e-05
+                                ],
+                                [
+                                    2.5751014618435875e-06,
+                                    0.024857960641384125,
+                                    -7.566523436253192e-06
+                                ],
+                                [
+                                    -0.002541684778407216,
+                                    0.07974854111671448,
+                                    -0.014709856361150742
+                                ],
+                                [
+                                    4.522514245763887e-06,
+                                    0.02626584656536579,
+                                    -1.5906522094155662e-05
+                                ],
+                                [
+                                    3.073745631354541e-07,
+                                    0.01447517890483141,
+                                    -3.5456350815366022e-06
+                                ],
+                                [
+                                    -4.5776371848660347e-07,
+                                    1.4305115314527939e-07,
+                                    1.4305116202706358e-08
+                                ],
+                                [
+                                    1.0528564416745212e-05,
+                                    0.13216370344161987,
+                                    -1.2264251381566282e-05
+                                ]
+                            ],
+                            "rotations": [
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.6696234345436096,
+                                    0.7426784038543701,
+                                    0.003869665553793311,
+                                    -0.004287793766707182
+                                ],
+                                [
+                                    0.9890758991241455,
+                                    0.14740628004074097,
+                                    5.1450697355903685e-05,
+                                    -0.0006149070686660707
+                                ],
+                                [
+                                    0.005230098031461239,
+                                    -0.025212327018380165,
+                                    -0.1800389289855957,
+                                    -0.9833225011825562
+                                ],
+                                [
+                                    -0.9998105764389038,
+                                    0.018519246950745583,
+                                    0.005957660730928183,
+                                    -0.0006062018219381571
+                                ],
+                                [
+                                    -0.7519727945327759,
+                                    -0.6494624614715576,
+                                    0.09769179672002792,
+                                    -0.056495409458875656
+                                ],
+                                [
+                                    0.9914048314094543,
+                                    0.12855775654315948,
+                                    0.023155033588409424,
+                                    -0.0072944494895637035
+                                ],
+                                [
+                                    -0.9914089441299438,
+                                    -0.12855811417102814,
+                                    -0.022969186305999756,
+                                    0.0073182471096515656
+                                ],
+                                [
+                                    0.9951031804084778,
+                                    -0.09013381600379944,
+                                    0.040427036583423615,
+                                    0.0033483700826764107
+                                ],
+                                [
+                                    0.9847935438156128,
+                                    -0.16255775094032288,
+                                    0.059932246804237366,
+                                    0.012836585752665997
+                                ],
+                                [
+                                    0.9960201978683472,
+                                    -0.07844223082065582,
+                                    0.04223980754613876,
+                                    0.0025259072426706553
+                                ],
+                                [
+                                    0.9955074787139893,
+                                    -0.08238422125577927,
+                                    0.046640120446681976,
+                                    -0.0015490411315113306
+                                ],
+                                [
+                                    0.9998166561126709,
+                                    -0.018469801172614098,
+                                    0.0008154920069500804,
+                                    -0.004997477401047945
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.9998706579208374,
+                                    5.043127202952746e-06,
+                                    0.016083138063549995,
+                                    6.626501544815255e-06
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.013166326098144054,
+                                    0.004605701193213463,
+                                    0.1839323341846466,
+                                    0.9828399419784546
+                                ],
+                                [
+                                    0.9997596740722656,
+                                    -0.012123571708798409,
+                                    0.01801278442144394,
+                                    -0.003051538486033678
+                                ],
+                                [
+                                    0.9998706579208374,
+                                    5.010140284866793e-06,
+                                    -0.016083139926195145,
+                                    -6.619898158533033e-06
+                                ],
+                                [
+                                    -0.75018709897995,
+                                    -0.6340523362159729,
+                                    -0.18042674660682678,
+                                    0.051410429179668427
+                                ],
+                                [
+                                    -0.9914079904556274,
+                                    -0.12856684625148773,
+                                    0.022966880351305008,
+                                    -0.007300065830349922
+                                ],
+                                [
+                                    0.9998193979263306,
+                                    -0.018335720524191856,
+                                    -0.0008173795067705214,
+                                    0.0049420674331486225
+                                ],
+                                [
+                                    0.9951270818710327,
+                                    -0.08985630422830582,
+                                    -0.04044421389698982,
+                                    -0.003492934163659811
+                                ],
+                                [
+                                    0.9847970008850098,
+                                    -0.16253913938999176,
+                                    -0.05993286892771721,
+                                    -0.012804163619875908
+                                ],
+                                [
+                                    0.9955072402954102,
+                                    -0.08238588273525238,
+                                    -0.04664164036512375,
+                                    0.0015673484886065125
+                                ],
+                                [
+                                    0.9960148334503174,
+                                    -0.07851073145866394,
+                                    -0.04224039614200592,
+                                    -0.0025033066049218178
+                                ],
+                                [
+                                    0.9914038181304932,
+                                    0.12856696546077728,
+                                    -0.023152858018875122,
+                                    0.007276608143001795
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.9890645742416382,
+                                    0.14747287333011627,
+                                    -0.0017724464414641261,
+                                    -0.000207567194593139
+                                ],
+                                [
+                                    0.9709434509277344,
+                                    -0.23927909135818481,
+                                    -0.00365322083234787,
+                                    -0.0010341765591874719
+                                ],
+                                [
+                                    0.9965046644210815,
+                                    -0.08324360847473145,
+                                    -0.006590792443603277,
+                                    -0.002362103434279561
+                                ],
+                                [
+                                    0.9769735932350159,
+                                    0.21323521435260773,
+                                    0.001689655939117074,
+                                    -0.00710114324465394
+                                ],
+                                [
+                                    0.9994910955429077,
+                                    0.02048102766275406,
+                                    -0.019109779968857765,
+                                    0.015260856598615646
+                                ],
+                                [
+                                    0.9858201146125793,
+                                    -0.16368359327316284,
+                                    -0.028068184852600098,
+                                    0.024060003459453583
+                                ],
+                                [
+                                    0.5000000596046448,
+                                    0.5,
+                                    0.5,
+                                    0.5000001192092896
+                                ],
+                                [
+                                    0.7071213722229004,
+                                    -5.918661554460414e-05,
+                                    -4.2020394175779074e-05,
+                                    0.7070924043655396
+                                ],
+                                [
+                                    0.9991929531097412,
+                                    -0.0008850466692820191,
+                                    0.0162584837526083,
+                                    0.03672273829579353
+                                ],
+                                [
+                                    0.9911035895347595,
+                                    -0.001878797891549766,
+                                    -0.01606130786240101,
+                                    0.13210760056972504
+                                ],
+                                [
+                                    1.0000001192092896,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    -8.0032208643388e-05,
+                                    1.0000001192092896,
+                                    -2.2604415335081285e-06,
+                                    9.710102312965319e-05
+                                ],
+                                [
+                                    -2.207385705332854e-06,
+                                    0.7071067094802856,
+                                    2.0203651729389094e-06,
+                                    0.7071069478988647
+                                ],
+                                [
+                                    -2.0413865513546625e-06,
+                                    0.70710688829422,
+                                    2.18636387216975e-06,
+                                    0.70710688829422
+                                ],
+                                [
+                                    0.707102358341217,
+                                    2.75214079010766e-05,
+                                    -3.068280057050288e-05,
+                                    0.7071112990379333
+                                ],
+                                [
+                                    1.0639178981364239e-05,
+                                    1.0000001192092896,
+                                    -1.0283819392498117e-05,
+                                    -3.3974360121646896e-05
+                                ],
+                                [
+                                    0.6624317169189453,
+                                    -0.019717786461114883,
+                                    0.2004874348640442,
+                                    -0.7215263843536377
+                                ],
+                                [
+                                    0.7647299766540527,
+                                    0.0851970687508583,
+                                    0.13956981897354126,
+                                    -0.6232574582099915
+                                ],
+                                [
+                                    0.9889785051345825,
+                                    0.14330697059631348,
+                                    0.035266656428575516,
+                                    -0.011875887401401997
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.9999997615814209,
+                                    -0.00044649490155279636,
+                                    0.0004149593005422503,
+                                    -0.000324481341522187
+                                ],
+                                [
+                                    0.9862557053565979,
+                                    -0.0038349025417119265,
+                                    0.11930495500564575,
+                                    0.11424270272254944
+                                ],
+                                [
+                                    0.8296571969985962,
+                                    0.029319418594241142,
+                                    -0.11034274101257324,
+                                    -0.5464739203453064
+                                ],
+                                [
+                                    0.8167128562927246,
+                                    -0.032347243279218674,
+                                    -0.10509667545557022,
+                                    -0.5664703249931335
+                                ],
+                                [
+                                    0.8491476774215698,
+                                    -0.030381949618458748,
+                                    -0.06704209744930267,
+                                    -0.5230015516281128
+                                ],
+                                [
+                                    0.9109166860580444,
+                                    0.004834807477891445,
+                                    -0.05610770359635353,
+                                    -0.40872883796691895
+                                ],
+                                [
+                                    0.978812038898468,
+                                    -0.06442128121852875,
+                                    -0.016263144090771675,
+                                    0.19368162751197815
+                                ],
+                                [
+                                    0.18079692125320435,
+                                    -0.02694818377494812,
+                                    -0.011456058360636234,
+                                    -0.983084499835968
+                                ],
+                                [
+                                    0.9447413682937622,
+                                    0.008259596303105354,
+                                    -0.04423822835087776,
+                                    -0.3247130811214447
+                                ],
+                                [
+                                    0.6801745891571045,
+                                    -0.019451677799224854,
+                                    -0.0693252831697464,
+                                    -0.7295054197311401
+                                ],
+                                [
+                                    0.9851248264312744,
+                                    0.0019035949371755123,
+                                    -0.022819600999355316,
+                                    -0.17030787467956543
+                                ],
+                                [
+                                    0.9552716612815857,
+                                    -0.011597909033298492,
+                                    0.019190136343240738,
+                                    -0.2948784828186035
+                                ],
+                                [
+                                    0.9199478626251221,
+                                    0.018202507868409157,
+                                    -0.028701968491077423,
+                                    -0.3905646800994873
+                                ],
+                                [
+                                    0.8487424850463867,
+                                    -0.010078387334942818,
+                                    -0.04896683618426323,
+                                    -0.5264379382133484
+                                ],
+                                [
+                                    0.9472206830978394,
+                                    0.2062361240386963,
+                                    -0.23711733520030975,
+                                    -0.06336445361375809
+                                ],
+                                [
+                                    0.9524059295654297,
+                                    -0.21207565069198608,
+                                    0.09867492318153381,
+                                    0.19547444581985474
+                                ],
+                                [
+                                    0.9988295435905457,
+                                    0.02453063800930977,
+                                    0.0021590052638202906,
+                                    0.04163087159395218
+                                ],
+                                [
+                                    0.9999991059303284,
+                                    3.13475447910605e-06,
+                                    -0.0013372092507779598,
+                                    2.3774219926053775e-07
+                                ],
+                                [
+                                    0.9999991059303284,
+                                    1.3739226005782257e-06,
+                                    0.0013372122775763273,
+                                    -7.651427608091472e-23
+                                ],
+                                [
+                                    1.2722284736810252e-06,
+                                    7.253615422087023e-06,
+                                    0.6382178068161011,
+                                    0.7698558568954468
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.2581035662151407e-06,
+                                    7.301232471945696e-06,
+                                    0.6382178068161011,
+                                    0.7698558568954468
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.6637378334999084,
+                                    -0.05137355625629425,
+                                    -0.23270432651042938,
+                                    0.7089864015579224
+                                ],
+                                [
+                                    0.7622707486152649,
+                                    0.14387638866901398,
+                                    -0.08322770148515701,
+                                    0.6255525350570679
+                                ],
+                                [
+                                    0.9931426644325256,
+                                    0.03616363927721977,
+                                    -0.10269089043140411,
+                                    0.04259709641337395
+                                ],
+                                [
+                                    0.9999997019767761,
+                                    -0.0004993414622731507,
+                                    -0.000463913194835186,
+                                    0.000362614169716835
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                [
+                                    0.9883089661598206,
+                                    -0.07145679742097855,
+                                    -0.11826799064874649,
+                                    -0.06443668901920319
+                                ],
+                                [
+                                    0.9019487500190735,
+                                    0.10677024722099304,
+                                    0.10812265425920486,
+                                    0.40422534942626953
+                                ],
+                                [
+                                    0.7673526406288147,
+                                    -0.012287674471735954,
+                                    0.05963096395134926,
+                                    0.6383283734321594
+                                ],
+                                [
+                                    0.8726702332496643,
+                                    -0.013151207938790321,
+                                    0.043775323778390884,
+                                    0.4861660599708557
+                                ],
+                                [
+                                    0.9469804763793945,
+                                    0.00821638386696577,
+                                    0.04383276030421257,
+                                    0.31818103790283203
+                                ],
+                                [
+                                    0.8877103924751282,
+                                    -0.010136277414858341,
+                                    0.0405932292342186,
+                                    0.4584972858428955
+                                ],
+                                [
+                                    0.8579671382904053,
+                                    -0.00852990336716175,
+                                    0.06054418161511421,
+                                    0.5100529789924622
+                                ],
+                                [
+                                    0.9576115608215332,
+                                    0.2865719199180603,
+                                    -0.006215919274836779,
+                                    0.028599880635738373
+                                ],
+                                [
+                                    0.9766654372215271,
+                                    -0.13791272044181824,
+                                    -0.06383132189512253,
+                                    -0.15175761282444
+                                ],
+                                [
+                                    0.9988296031951904,
+                                    0.024533366784453392,
+                                    -0.0021541411988437176,
+                                    -0.04162808507680893
+                                ],
+                                [
+                                    0.9696969389915466,
+                                    -0.09455665200948715,
+                                    -0.030598727986216545,
+                                    0.22318285703659058
+                                ],
+                                [
+                                    0.7473939657211304,
+                                    0.01376531831920147,
+                                    0.04415269196033478,
+                                    0.6627693772315979
+                                ],
+                                [
+                                    0.8730335235595703,
+                                    -0.00943711493164301,
+                                    0.04594186693429947,
+                                    0.48539960384368896
+                                ],
+                                [
+                                    0.8336966633796692,
+                                    0.1984526515007019,
+                                    0.19336526095867157,
+                                    0.47767797112464905
+                                ],
+                                [
+                                    0.8432234525680542,
+                                    -0.03185613453388214,
+                                    0.09715370088815689,
+                                    0.5277504920959473
+                                ],
+                                [
+                                    0.8732796311378479,
+                                    -0.03053598292171955,
+                                    0.06080600246787071,
+                                    0.4824448227882385
+                                ],
+                                [
+                                    0.9999991059303284,
+                                    3.1351985398941906e-06,
+                                    0.0013372092507779598,
+                                    -1.1700294777483577e-07
+                                ],
+                                [
+                                    0.9999991059303284,
+                                    1.3768781172984745e-06,
+                                    -0.0013372122775763273,
+                                    -9.565199832195503e-08
+                                ]
+                            ],
+                            "targets": {
+                                "Right": {
+                                    "position": [
+                                        0.7791628930931616,
+                                        0.9351808476460546,
+                                        1.09818745160916
+                                    ],
+                                    "weight": 1.0,
+                                    "orientation": [
+                                        -0.0502220859515861,
+                                        0.2087755904731607,
+                                        -0.3920963245105744,
+                                        0.8945115802551429
+                                    ],
+                                    "rotation_weight": 1.0
+                                }
+                            },
+                            "velocity_active": false,
+                            "face": 0.2830417023345603,
+                            "rest_ready": true,
+                            "pelvis_local": [
+                                2.3964168119946366e-08,
+                                -0.01358266736201204,
+                                0.9286893922835588
+                            ],
+                            "foot_local": {
+                                "Left": [
+                                    0.09073279116965037,
+                                    0.03875062847920373,
+                                    0.06833554245531559
+                                ],
+                                "Right": [
+                                    -0.11938333540446938,
+                                    0.02621414266397686,
+                                    0.07028246112167835
+                                ]
+                            },
+                            "chest_rest": [
+                                0.7898726975371978,
+                                0.6130841206286943,
+                                -5.5635128532405265e-05,
+                                -0.015147390028023705
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1395a0d50c20556036a069f2e79816b9d4a2ed750340f643709d81eb5a668897
+size 705243

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 22:14:00"
+    },
+    "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": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N028/sawyer_umi/dr_on/seed_2044/data/mobiletooltask/000/visual_dr.json

@@ -0,0 +1,695 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "dot_?",
+   "pointer",
+   "Person"
+  ],
+  "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": 2044,
+   "seeds": {
+    "0": 2044
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 10776.752888,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6402.326989,
+     "rotate_deg": [
+      0.767,
+      2.374,
+      4.045
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 653.513143,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6545.749708,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      326.619
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.774265,
+       0.78863,
+       0.719865
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.6218,
+      0.7682,
+      0.7227
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.440926,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/Characters/MagicGraph/Biped_Setup/biped_demo_meters/Looks/suit",
+     "role": "object",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 1,
+     "pool_size": 54,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Devil_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Devil_Black",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
+     "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": {
+    "dot_?": 7,
+    "pointer": 1,
+    "Person": 5
+   },
+   "physics_skip": {
+    "physics_binding": 1,
+    "rigid_body": 106,
+    "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": "/scratch/xc536/magicsim_atomic/MagicSim/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": 2044,
+   "seeds": {
+    "0": 2044
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 10776.752888,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6402.326989,
+     "rotate_deg": [
+      0.767,
+      2.374,
+      4.045
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 653.513143,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6545.749708,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      326.619
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.774265,
+       0.78863,
+       0.719865
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.6218,
+      0.7682,
+      0.7227
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.440926,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/Characters/MagicGraph/Biped_Setup/biped_demo_meters/Looks/suit",
+     "role": "object",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 1,
+     "pool_size": 54,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Devil_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Devil_Black",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
+     "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": {
+    "dot_?": 7,
+    "pointer": 1,
+    "Person": 5
+   },
+   "physics_skip": {
+    "physics_binding": 80,
+    "rigid_body": 106,
+    "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": "/scratch/xc536/magicsim_atomic/MagicSim/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
+    }
+   ]
+  }
+ ]
+}