add 30 staged episodes

N025/go2_arm/dr_off/seed_1043/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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2180 rows vs ceil(4359/2) = 2180"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..4389, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.21 MB, 2180 frames at 25 fps, mean luma 111..142, std 24, new picture 2179x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2180 vs 2180"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "35.14 MB, 2180 frames at 25 fps, mean luma 113..169, std 30, new picture 2179x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2180 vs 2180"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_off/seed_1043/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2180  videos 2  robot_type Go2PlusCfg
+[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: 2180 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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 2180 at dataset fps 25 = 87.20 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2180 rows vs ceil(4359/2) = 2180
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4389, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 24.21 MB, 2180 frames at 25 fps, mean luma 111..142, std 24, new picture 2179x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2180 vs 2180
+[PASS] video observation.images.wrist decodes, 640x480, not black: 35.14 MB, 2180 frames at 25 fps, mean luma 113..169, std 30, new picture 2179x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2180 vs 2180
+parquet size 31.74 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 91.33 MB; whole cell dir 93.1 MB
+RESULT: ALL PASS

N025/go2_arm/dr_off/seed_1043/report.json

@@ -0,0 +1,2399 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 1043,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1043,
+    "wedge": {
+      "dx": 0.06845,
+      "dy": -0.04109,
+      "yaw_deg": -0.81411
+    },
+    "shim_board": {
+      "dx": 0.04167,
+      "dy": 0.02262,
+      "yaw_deg": -4.1445
+    },
+    "wedge_mass": 0.02128,
+    "light": 1035.3644,
+    "spawn": {
+      "dx": 0.06178,
+      "dy": 0.1105,
+      "yaw_deg": -9.8937
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -1.93155,
+        1.35891,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        89.18589
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.24167,
+        3.17262,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -94.1445
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.02128,
+      "env.scene.background.intensity": [
+        1035.3644,
+        1035.3644
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.53822,
+          -2.3895,
+          0.06
+        ],
+        [
+          -3.53822,
+          -2.3895,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          50.1063
+        ],
+        [
+          0,
+          0,
+          50.1063
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "go2_arm",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/Bodies/go2_base",
+        "pos": [
+          0.332051,
+          0.038027,
+          0.093559
+        ],
+        "ori": [
+          169.9473,
+          -88.6452,
+          81.5985
+        ],
+        "focal_length": 1.8231182098388672,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4407838582992554
+      },
+      "wrist": {
+        "link": "Robot_0/Bodies/piper_link6",
+        "pos": [
+          -0.074987,
+          0.005289,
+          0.045821
+        ],
+        "ori": [
+          179.3135,
+          -20.212,
+          88.9402
+        ],
+        "focal_length": 1.8517500162124634,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4393036365509033
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 4389,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    },
+    "B": {
+      "center": [
+        1.2,
+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
+  },
+  "spawn_pose": [
+    -3.538219928741455,
+    -2.3894999027252197,
+    0.8745199352642149
+  ],
+  "base_path": [
+    [
+      -2.479,
+      -0.311,
+      1.065
+    ],
+    [
+      -2.447,
+      -0.251,
+      1.069
+    ],
+    [
+      -2.414,
+      -0.191,
+      1.066
+    ],
+    [
+      -2.382,
+      -0.13,
+      1.069
+    ],
+    [
+      -2.349,
+      -0.07,
+      1.066
+    ],
+    [
+      -2.318,
+      -0.01,
+      1.069
+    ],
+    [
+      -2.285,
+      0.051,
+      1.067
+    ],
+    [
+      -2.253,
+      0.111,
+      1.069
+    ],
+    [
+      -2.22,
+      0.172,
+      1.068
+    ],
+    [
+      -2.188,
+      0.232,
+      1.069
+    ],
+    [
+      -2.155,
+      0.292,
+      1.069
+    ],
+    [
+      -2.126,
+      0.347,
+      1.07
+    ],
+    [
+      -2.1,
+      0.397,
+      1.071
+    ],
+    [
+      -2.078,
+      0.437,
+      1.066
+    ],
+    [
+      -2.06,
+      0.472,
+      1.072
+    ],
+    [
+      -2.049,
+      0.499,
+      1.071
+    ],
+    [
+      -2.04,
+      0.514,
+      1.069
+    ],
+    [
+      -2.034,
+      0.523,
+      1.083
+    ],
+    [
+      -2.036,
+      0.528,
+      1.164
+    ],
+    [
+      -2.037,
+      0.528,
+      1.287
+    ],
+    [
+      -2.036,
+      0.528,
+      1.443
+    ],
+    [
+      -2.033,
+      0.528,
+      1.596
+    ],
+    [
+      -2.034,
+      0.528,
+      1.768
+    ],
+    [
+      -2.035,
+      0.527,
+      1.874
+    ],
+    [
+      -2.031,
+      0.527,
+      1.85
+    ],
+    [
+      -2.027,
+      0.528,
+      1.794
+    ],
+    [
+      -2.026,
+      0.532,
+      1.739
+    ],
+    [
+      -2.024,
+      0.536,
+      1.686
+    ],
+    [
+      -2.024,
+      0.54,
+      1.642
+    ],
+    [
+      -2.025,
+      0.553,
+      1.602
+    ],
+    [
+      -2.028,
+      0.573,
+      1.56
+    ],
+    [
+      -2.028,
+      0.595,
+      1.526
+    ],
+    [
+      -2.031,
+      0.618,
+      1.493
+    ],
+    [
+      -2.033,
+      0.642,
+      1.477
+    ],
+    [
+      -2.033,
+      0.662,
+      1.475
+    ],
+    [
+      -2.031,
+      0.68,
+      1.473
+    ],
+    [
+      -2.027,
+      0.699,
+      1.465
+    ],
+    [
+      -2.026,
+      0.723,
+      1.469
+    ],
+    [
+      -2.026,
+      0.744,
+      1.466
+    ],
+    [
+      -2.025,
+      0.758,
+      1.465
+    ],
+    [
+      -2.025,
+      0.764,
+      1.464
+    ],
+    [
+      -2.025,
+      0.768,
+      1.464
+    ],
+    [
+      -2.025,
+      0.77,
+      1.463
+    ],
+    [
+      -2.025,
+      0.772,
+      1.463
+    ],
+    [
+      -2.025,
+      0.773,
+      1.463
+    ],
+    [
+      -2.025,
+      0.773,
+      1.463
+    ],
+    [
+      -2.025,
+      0.774,
+      1.462
+    ],
+    [
+      -2.024,
+      0.776,
+      1.463
+    ],
+    [
+      -2.022,
+      0.777,
+      1.462
+    ],
+    [
+      -2.023,
+      0.778,
+      1.462
+    ],
+    [
+      -2.023,
+      0.779,
+      1.462
+    ],
+    [
+      -2.024,
+      0.779,
+      1.461
+    ],
+    [
+      -2.024,
+      0.779,
+      1.461
+    ],
+    [
+      -2.024,
+      0.78,
+      1.462
+    ],
+    [
+      -2.023,
+      0.781,
+      1.462
+    ],
+    [
+      -2.023,
+      0.781,
+      1.462
+    ],
+    [
+      -2.02,
+      0.782,
+      1.459
+    ],
+    [
+      -2.02,
+      0.787,
+      1.459
+    ],
+    [
+      -2.019,
+      0.789,
+      1.456
+    ],
+    [
+      -2.019,
+      0.791,
+      1.453
+    ],
+    [
+      -2.019,
+      0.79,
+      1.45
+    ],
+    [
+      -2.018,
+      0.788,
+      1.449
+    ],
+    [
+      -2.019,
+      0.789,
+      1.449
+    ],
+    [
+      -2.019,
+      0.79,
+      1.448
+    ],
+    [
+      -2.019,
+      0.789,
+      1.447
+    ],
+    [
+      -2.018,
+      0.788,
+      1.447
+    ],
+    [
+      -2.019,
+      0.79,
+      1.446
+    ],
+    [
+      -2.019,
+      0.789,
+      1.446
+    ],
+    [
+      -2.018,
+      0.788,
+      1.446
+    ],
+    [
+      -2.019,
+      0.79,
+      1.446
+    ],
+    [
+      -2.019,
+      0.79,
+      1.446
+    ],
+    [
+      -2.018,
+      0.788,
+      1.446
+    ],
+    [
+      -2.019,
+      0.789,
+      1.446
+    ],
+    [
+      -2.019,
+      0.79,
+      1.446
+    ],
+    [
+      -2.019,
+      0.789,
+      1.446
+    ],
+    [
+      -2.019,
+      0.79,
+      1.446
+    ],
+    [
+      -2.019,
+      0.789,
+      1.446
+    ],
+    [
+      -2.019,
+      0.789,
+      1.446
+    ],
+    [
+      -2.019,
+      0.792,
+      1.446
+    ],
+    [
+      -2.019,
+      0.796,
+      1.446
+    ],
+    [
+      -2.018,
+      0.8,
+      1.445
+    ],
+    [
+      -2.016,
+      0.801,
+      1.441
+    ],
+    [
+      -2.015,
+      0.802,
+      1.438
+    ],
+    [
+      -2.014,
+      0.803,
+      1.436
+    ],
+    [
+      -2.013,
+      0.804,
+      1.433
+    ],
+    [
+      -2.014,
+      0.8,
+      1.434
+    ],
+    [
+      -2.015,
+      0.794,
+      1.434
+    ],
+    [
+      -2.018,
+      0.787,
+      1.434
+    ],
+    [
+      -2.019,
+      0.785,
+      1.434
+    ],
+    [
+      -2.019,
+      0.784,
+      1.434
+    ],
+    [
+      -2.02,
+      0.782,
+      1.434
+    ],
+    [
+      -2.02,
+      0.78,
+      1.434
+    ],
+    [
+      -2.02,
+      0.778,
+      1.434
+    ],
+    [
+      -2.021,
+      0.776,
+      1.434
+    ],
+    [
+      -2.021,
+      0.774,
+      1.434
+    ],
+    [
+      -2.021,
+      0.772,
+      1.434
+    ],
+    [
+      -2.021,
+      0.771,
+      1.434
+    ],
+    [
+      -2.021,
+      0.77,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.022,
+      0.77,
+      1.434
+    ],
+    [
+      -2.022,
+      0.77,
+      1.434
+    ],
+    [
+      -2.022,
+      0.77,
+      1.434
+    ],
+    [
+      -2.022,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.022,
+      0.768,
+      1.434
+    ],
+    [
+      -2.022,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.022,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.77,
+      1.434
+    ],
+    [
+      -2.022,
+      0.77,
+      1.434
+    ],
+    [
+      -2.022,
+      0.77,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.021,
+      0.768,
+      1.434
+    ],
+    [
+      -2.022,
+      0.768,
+      1.434
+    ],
+    [
+      -2.021,
+      0.769,
+      1.434
+    ],
+    [
+      -2.022,
+      0.771,
+      1.435
+    ],
+    [
+      -2.021,
+      0.773,
+      1.434
+    ],
+    [
+      -2.021,
+      0.773,
+      1.434
+    ],
+    [
+      -2.021,
+      0.774,
+      1.434
+    ],
+    [
+      -2.021,
+      0.774,
+      1.434
+    ],
+    [
+      -2.021,
+      0.774,
+      1.434
+    ],
+    [
+      -2.02,
+      0.773,
+      1.434
+    ],
+    [
+      -2.02,
+      0.773,
+      1.434
+    ],
+    [
+      -2.019,
+      0.772,
+      1.434
+    ],
+    [
+      -2.018,
+      0.77,
+      1.434
+    ],
+    [
+      -2.018,
+      0.767,
+      1.434
+    ],
+    [
+      -2.018,
+      0.767,
+      1.435
+    ],
+    [
+      -2.018,
+      0.77,
+      1.437
+    ],
+    [
+      -2.017,
+      0.77,
+      1.436
+    ],
+    [
+      -2.017,
+      0.77,
+      1.418
+    ],
+    [
+      -2.018,
+      0.767,
+      1.328
+    ],
+    [
+      -2.025,
+      0.763,
+      1.185
+    ],
+    [
+      -2.027,
+      0.761,
+      1.024
+    ],
+    [
+      -2.027,
+      0.756,
+      0.861
+    ],
+    [
+      -2.031,
+      0.756,
+      0.689
+    ],
+    [
+      -2.025,
+      0.754,
+      0.532
+    ],
+    [
+      -1.993,
+      0.749,
+      0.389
+    ],
+    [
+      -1.944,
+      0.738,
+      0.3
+    ],
+    [
+      -1.879,
+      0.719,
+      0.248
+    ],
+    [
+      -1.813,
+      0.706,
+      0.241
+    ],
+    [
+      -1.741,
+      0.695,
+      0.245
+    ],
+    [
+      -1.671,
+      0.694,
+      0.251
+    ],
+    [
+      -1.598,
+      0.694,
+      0.263
+    ],
+    [
+      -1.529,
+      0.701,
+      0.265
+    ],
+    [
+      -1.458,
+      0.71,
+      0.274
+    ],
+    [
+      -1.39,
+      0.723,
+      0.267
+    ],
+    [
+      -1.321,
+      0.737,
+      0.275
+    ],
+    [
+      -1.255,
+      0.752,
+      0.266
+    ],
+    [
+      -1.187,
+      0.769,
+      0.274
+    ],
+    [
+      -1.12,
+      0.786,
+      0.267
+    ],
+    [
+      -1.053,
+      0.806,
+      0.268
+    ],
+    [
+      -0.985,
+      0.824,
+      0.264
+    ],
+    [
+      -0.918,
+      0.843,
+      0.267
+    ],
+    [
+      -0.85,
+      0.86,
+      0.266
+    ],
+    [
+      -0.784,
+      0.88,
+      0.268
+    ],
+    [
+      -0.716,
+      0.897,
+      0.27
+    ],
+    [
+      -0.65,
+      0.918,
+      0.267
+    ],
+    [
+      -0.581,
+      0.936,
+      0.27
+    ],
+    [
+      -0.515,
+      0.956,
+      0.265
+    ],
+    [
+      -0.447,
+      0.974,
+      0.269
+    ],
+    [
+      -0.381,
+      0.993,
+      0.263
+    ],
+    [
+      -0.313,
+      1.012,
+      0.271
+    ],
+    [
+      -0.247,
+      1.032,
+      0.263
+    ],
+    [
+      -0.179,
+      1.051,
+      0.271
+    ],
+    [
+      -0.112,
+      1.07,
+      0.263
+    ],
+    [
+      -0.046,
+      1.089,
+      0.268
+    ],
+    [
+      0.021,
+      1.107,
+      0.264
+    ],
+    [
+      0.088,
+      1.127,
+      0.268
+    ],
+    [
+      0.155,
+      1.145,
+      0.267
+    ],
+    [
+      0.221,
+      1.166,
+      0.269
+    ],
+    [
+      0.289,
+      1.184,
+      0.269
+    ],
+    [
+      0.355,
+      1.204,
+      0.268
+    ],
+    [
+      0.424,
+      1.221,
+      0.269
+    ],
+    [
+      0.49,
+      1.242,
+      0.266
+    ],
+    [
+      0.559,
+      1.259,
+      0.269
+    ],
+    [
+      0.624,
+      1.28,
+      0.265
+    ],
+    [
+      0.692,
+      1.298,
+      0.271
+    ],
+    [
+      0.758,
+      1.318,
+      0.264
+    ],
+    [
+      0.826,
+      1.337,
+      0.271
+    ],
+    [
+      0.891,
+      1.355,
+      0.263
+    ],
+    [
+      0.951,
+      1.374,
+      0.271
+    ],
+    [
+      1.001,
+      1.389,
+      0.266
+    ],
+    [
+      1.043,
+      1.402,
+      0.269
+    ],
+    [
+      1.08,
+      1.412,
+      0.272
+    ],
+    [
+      1.104,
+      1.421,
+      0.269
+    ],
+    [
+      1.117,
+      1.424,
+      0.27
+    ],
+    [
+      1.12,
+      1.426,
+      0.336
+    ],
+    [
+      1.12,
+      1.43,
+      0.446
+    ],
+    [
+      1.117,
+      1.431,
+      0.587
+    ],
+    [
+      1.12,
+      1.431,
+      0.747
+    ],
+    [
+      1.122,
+      1.431,
+      0.903
+    ],
+    [
+      1.123,
+      1.433,
+      1.076
+    ],
+    [
+      1.124,
+      1.432,
+      1.231
+    ],
+    [
+      1.124,
+      1.434,
+      1.405
+    ],
+    [
+      1.126,
+      1.433,
+      1.56
+    ],
+    [
+      1.126,
+      1.433,
+      1.693
+    ],
+    [
+      1.126,
+      1.441,
+      1.729
+    ],
+    [
+      1.124,
+      1.456,
+      1.716
+    ],
+    [
+      1.12,
+      1.476,
+      1.683
+    ],
+    [
+      1.119,
+      1.493,
+      1.648
+    ],
+    [
+      1.122,
+      1.516,
+      1.634
+    ],
+    [
+      1.12,
+      1.539,
+      1.614
+    ],
+    [
+      1.116,
+      1.562,
+      1.601
+    ],
+    [
+      1.114,
+      1.583,
+      1.589
+    ],
+    [
+      1.111,
+      1.603,
+      1.585
+    ],
+    [
+      1.114,
+      1.621,
+      1.575
+    ],
+    [
+      1.117,
+      1.645,
+      1.578
+    ],
+    [
+      1.117,
+      1.663,
+      1.581
+    ],
+    [
+      1.116,
+      1.682,
+      1.584
+    ],
+    [
+      1.115,
+      1.702,
+      1.582
+    ],
+    [
+      1.114,
+      1.721,
+      1.578
+    ],
+    [
+      1.114,
+      1.738,
+      1.572
+    ],
+    [
+      1.114,
+      1.76,
+      1.571
+    ],
+    [
+      1.114,
+      1.785,
+      1.57
+    ],
+    [
+      1.114,
+      1.809,
+      1.569
+    ],
+    [
+      1.115,
+      1.829,
+      1.567
+    ],
+    [
+      1.115,
+      1.847,
+      1.563
+    ],
+    [
+      1.116,
+      1.867,
+      1.566
+    ],
+    [
+      1.117,
+      1.891,
+      1.564
+    ],
+    [
+      1.117,
+      1.917,
+      1.561
+    ],
+    [
+      1.116,
+      1.938,
+      1.559
+    ],
+    [
+      1.117,
+      1.954,
+      1.552
+    ],
+    [
+      1.117,
+      1.974,
+      1.551
+    ],
+    [
+      1.119,
+      1.998,
+      1.551
+    ],
+    [
+      1.118,
+      2.024,
+      1.549
+    ],
+    [
+      1.118,
+      2.046,
+      1.545
+    ],
+    [
+      1.12,
+      2.064,
+      1.54
+    ],
+    [
+      1.12,
+      2.083,
+      1.537
+    ],
+    [
+      1.121,
+      2.106,
+      1.538
+    ],
+    [
+      1.12,
+      2.131,
+      1.538
+    ],
+    [
+      1.119,
+      2.154,
+      1.534
+    ],
+    [
+      1.12,
+      2.172,
+      1.531
+    ],
+    [
+      1.123,
+      2.19,
+      1.522
+    ],
+    [
+      1.124,
+      2.212,
+      1.526
+    ],
+    [
+      1.122,
+      2.238,
+      1.526
+    ],
+    [
+      1.121,
+      2.26,
+      1.523
+    ],
+    [
+      1.122,
+      2.278,
+      1.52
+    ],
+    [
+      1.125,
+      2.296,
+      1.516
+    ],
+    [
+      1.127,
+      2.319,
+      1.523
+    ],
+    [
+      1.124,
+      2.344,
+      1.523
+    ],
+    [
+      1.122,
+      2.36,
+      1.521
+    ],
+    [
+      1.122,
+      2.36,
+      1.518
+    ],
+    [
+      1.121,
+      2.36,
+      1.514
+    ],
+    [
+      1.12,
+      2.361,
+      1.514
+    ],
+    [
+      1.122,
+      2.36,
+      1.518
+    ],
+    [
+      1.121,
+      2.36,
+      1.514
+    ],
+    [
+      1.121,
+      2.36,
+      1.513
+    ],
+    [
+      1.121,
+      2.36,
+      1.513
+    ],
+    [
+      1.121,
+      2.36,
+      1.513
+    ],
+    [
+      1.121,
+      2.36,
+      1.514
+    ],
+    [
+      1.121,
+      2.36,
+      1.514
+    ],
+    [
+      1.122,
+      2.359,
+      1.514
+    ],
+    [
+      1.122,
+      2.359,
+      1.515
+    ],
+    [
+      1.123,
+      2.359,
+      1.517
+    ],
+    [
+      1.123,
+      2.359,
+      1.518
+    ],
+    [
+      1.124,
+      2.359,
+      1.52
+    ],
+    [
+      1.124,
+      2.359,
+      1.522
+    ],
+    [
+      1.125,
+      2.359,
+      1.523
+    ],
+    [
+      1.125,
+      2.359,
+      1.524
+    ],
+    [
+      1.126,
+      2.359,
+      1.526
+    ],
+    [
+      1.126,
+      2.359,
+      1.527
+    ],
+    [
+      1.126,
+      2.359,
+      1.528
+    ],
+    [
+      1.127,
+      2.359,
+      1.529
+    ],
+    [
+      1.127,
+      2.359,
+      1.531
+    ],
+    [
+      1.128,
+      2.359,
+      1.532
+    ],
+    [
+      1.128,
+      2.359,
+      1.533
+    ],
+    [
+      1.128,
+      2.359,
+      1.534
+    ],
+    [
+      1.129,
+      2.359,
+      1.536
+    ],
+    [
+      1.129,
+      2.359,
+      1.536
+    ],
+    [
+      1.129,
+      2.359,
+      1.538
+    ],
+    [
+      1.13,
+      2.359,
+      1.539
+    ],
+    [
+      1.13,
+      2.359,
+      1.54
+    ],
+    [
+      1.131,
+      2.359,
+      1.542
+    ],
+    [
+      1.131,
+      2.359,
+      1.544
+    ],
+    [
+      1.132,
+      2.359,
+      1.545
+    ],
+    [
+      1.132,
+      2.359,
+      1.547
+    ],
+    [
+      1.133,
+      2.359,
+      1.549
+    ],
+    [
+      1.133,
+      2.359,
+      1.551
+    ],
+    [
+      1.134,
+      2.359,
+      1.553
+    ],
+    [
+      1.135,
+      2.359,
+      1.555
+    ],
+    [
+      1.135,
+      2.359,
+      1.557
+    ],
+    [
+      1.136,
+      2.359,
+      1.559
+    ],
+    [
+      1.136,
+      2.359,
+      1.56
+    ],
+    [
+      1.136,
+      2.359,
+      1.561
+    ],
+    [
+      1.136,
+      2.359,
+      1.561
+    ],
+    [
+      1.136,
+      2.359,
+      1.561
+    ],
+    [
+      1.136,
+      2.359,
+      1.561
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.136,
+      2.359,
+      1.562
+    ],
+    [
+      1.135,
+      2.358,
+      1.56
+    ],
+    [
+      1.134,
+      2.359,
+      1.581
+    ],
+    [
+      1.139,
+      2.358,
+      1.615
+    ],
+    [
+      1.144,
+      2.359,
+      1.648
+    ],
+    [
+      1.145,
+      2.361,
+      1.679
+    ],
+    [
+      1.153,
+      2.362,
+      1.708
+    ],
+    [
+      1.156,
+      2.363,
+      1.729
+    ],
+    [
+      1.158,
+      2.363,
+      1.742
+    ],
+    [
+      1.16,
+      2.364,
+      1.749
+    ],
+    [
+      1.161,
+      2.364,
+      1.756
+    ],
+    [
+      1.162,
+      2.365,
+      1.761
+    ],
+    [
+      1.163,
+      2.365,
+      1.767
+    ],
+    [
+      1.164,
+      2.365,
+      1.772
+    ],
+    [
+      1.165,
+      2.366,
+      1.778
+    ],
+    [
+      1.165,
+      2.366,
+      1.784
+    ],
+    [
+      1.166,
+      2.367,
+      1.789
+    ],
+    [
+      1.167,
+      2.367,
+      1.794
+    ],
+    [
+      1.167,
+      2.367,
+      1.799
+    ],
+    [
+      1.167,
+      2.367,
+      1.801
+    ],
+    [
+      1.166,
+      2.367,
+      1.8
+    ],
+    [
+      1.161,
+      2.373,
+      1.844
+    ],
+    [
+      1.161,
+      2.374,
+      1.877
+    ],
+    [
+      1.165,
+      2.378,
+      1.914
+    ],
+    [
+      1.168,
+      2.386,
+      1.98
+    ],
+    [
+      1.165,
+      2.396,
+      2.062
+    ],
+    [
+      1.157,
+      2.408,
+      2.165
+    ],
+    [
+      1.154,
+      2.422,
+      2.258
+    ],
+    [
+      1.158,
+      2.427,
+      2.354
+    ],
+    [
+      1.161,
+      2.433,
+      2.452
+    ],
+    [
+      1.154,
+      2.443,
+      2.565
+    ],
+    [
+      1.151,
+      2.455,
+      2.672
+    ],
+    [
+      1.152,
+      2.46,
+      2.781
+    ],
+    [
+      1.153,
+      2.464,
+      2.895
+    ],
+    [
+      1.155,
+      2.465,
+      2.98
+    ],
+    [
+      1.153,
+      2.468,
+      3.044
+    ],
+    [
+      1.154,
+      2.468,
+      3.077
+    ],
+    [
+      1.157,
+      2.469,
+      3.084
+    ],
+    [
+      1.157,
+      2.469,
+      3.087
+    ],
+    [
+      1.159,
+      2.468,
+      3.079
+    ],
+    [
+      1.161,
+      2.467,
+      3.072
+    ],
+    [
+      1.163,
+      2.466,
+      3.067
+    ],
+    [
+      1.164,
+      2.466,
+      3.064
+    ],
+    [
+      1.164,
+      2.468,
+      3.06
+    ],
+    [
+      1.163,
+      2.468,
+      3.06
+    ],
+    [
+      1.162,
+      2.468,
+      3.06
+    ],
+    [
+      1.162,
+      2.469,
+      3.059
+    ],
+    [
+      1.162,
+      2.469,
+      3.059
+    ],
+    [
+      1.161,
+      2.469,
+      3.059
+    ],
+    [
+      1.161,
+      2.469,
+      3.059
+    ],
+    [
+      1.161,
+      2.469,
+      3.06
+    ],
+    [
+      1.163,
+      2.468,
+      3.06
+    ],
+    [
+      1.164,
+      2.467,
+      3.06
+    ],
+    [
+      1.163,
+      2.466,
+      3.06
+    ],
+    [
+      1.163,
+      2.466,
+      3.06
+    ],
+    [
+      1.163,
+      2.465,
+      3.06
+    ],
+    [
+      1.163,
+      2.464,
+      3.06
+    ],
+    [
+      1.163,
+      2.463,
+      3.06
+    ],
+    [
+      1.164,
+      2.463,
+      3.06
+    ],
+    [
+      1.165,
+      2.463,
+      3.059
+    ],
+    [
+      1.165,
+      2.463,
+      3.059
+    ],
+    [
+      1.166,
+      2.464,
+      3.058
+    ],
+    [
+      1.166,
+      2.463,
+      3.059
+    ],
+    [
+      1.166,
+      2.463,
+      3.058
+    ],
+    [
+      1.166,
+      2.463,
+      3.059
+    ],
+    [
+      1.166,
+      2.463,
+      3.058
+    ],
+    [
+      1.165,
+      2.462,
+      3.058
+    ],
+    [
+      1.165,
+      2.462,
+      3.057
+    ],
+    [
+      1.165,
+      2.462,
+      3.057
+    ],
+    [
+      1.166,
+      2.461,
+      3.057
+    ],
+    [
+      1.166,
+      2.461,
+      3.057
+    ],
+    [
+      1.166,
+      2.461,
+      3.057
+    ],
+    [
+      1.167,
+      2.461,
+      3.057
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ],
+    [
+      1.167,
+      2.461,
+      3.055
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 454,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.275,
+        0.069
+      ]
+    },
+    {
+      "step": 580,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 580,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 1221,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1221,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1550,
+      "event": "picked",
+      "part": [
+        -1.9318,
+        1.3583,
+        0.4601
+      ],
+      "gap_mm": 29.6,
+      "lift_mm": 30.1
+    },
+    {
+      "step": 1671,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1671,
+      "event": "stage_start",
+      "stage": "carry"
+    },
+    {
+      "step": 1823,
+      "event": "stage_done",
+      "stage": "carry",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1823,
+      "event": "stage_start",
+      "stage": "nav_B"
+    },
+    {
+      "step": 2464,
+      "event": "stage_done",
+      "stage": "nav_B",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 2464,
+      "event": "stage_start",
+      "stage": "stance_B"
+    },
+    {
+      "step": 2537,
+      "event": "enter_zone",
+      "zone": "B",
+      "base": [
+        1.12,
+        1.506
+      ]
+    },
+    {
+      "step": 3997,
+      "event": "stage_done",
+      "stage": "stance_B",
+      "skill_state": "finished"
+    },
+    {
+      "step": 3997,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 3997,
+      "event": "wp_start",
+      "name": "pre_insert",
+      "kind": "plan"
+    },
+    {
+      "step": 3997,
+      "event": "assemble_start",
+      "t_l6_part": [
+        -0.0153,
+        0.0002,
+        0.1398,
+        0.0001,
+        -0.004,
+        -1.0,
+        -0.0017
+      ]
+    },
+    {
+      "step": 4126,
+      "event": "wp_done",
+      "name": "pre_insert"
+    },
+    {
+      "step": 4126,
+      "event": "wp_start",
+      "name": "align",
+      "kind": "servo"
+    },
+    {
+      "step": 4157,
+      "event": "wp_done",
+      "name": "align"
+    },
+    {
+      "step": 4157,
+      "event": "wp_start",
+      "name": "insert",
+      "kind": "servo"
+    },
+    {
+      "step": 4225,
+      "event": "stop_condition",
+      "name": "board_level",
+      "wp": "insert"
+    },
+    {
+      "step": 4225,
+      "event": "wp_done",
+      "name": "insert"
+    },
+    {
+      "step": 4225,
+      "event": "release_start"
+    },
+    {
+      "step": 4309,
+      "event": "leave_start"
+    },
+    {
+      "step": 4360,
+      "event": "released",
+      "gap_mm": 70.0
+    },
+    {
+      "step": 4389,
+      "event": "success",
+      "ok": true,
+      "tilt_deg": -0.33,
+      "tilt_err_deg": -0.33,
+      "support_gap_mm": 0.83,
+      "wedge_on_plate": true,
+      "wedge_x_mm": 286.5,
+      "wedge_yaw_deg": 179.9,
+      "board_touch_steps": 0
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A",
+    "B"
+  ],
+  "interstation_path_lengths": {
+    "S": 2.781,
+    "S->A": 4.316,
+    "A->B": 1.082
+  },
+  "base_path_length": 8.178,
+  "distance_to_first_interaction": 3.677,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "tilt_deg": -0.33,
+    "tilt_err_deg": -0.33,
+    "support_gap_mm": 0.83,
+    "wedge_on_plate": true,
+    "wedge_x_mm": 286.5,
+    "wedge_yaw_deg": 179.9,
+    "board_touch_steps": 0
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 1316.9
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/completed/0.json

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

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49b04366db80e197b774dd3a48077bc0027a011e17a7edda6d4e8f11ff2b2f26
+size 31744899

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 2180, "magicsim/control_steps": 4359, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height."}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1334438754211462, -0.0032067905342496863, 0.06972071212991952, 0.35934861882017294, -0.4229542423928276, 1.556706141851364, 0.8070356603609312, 0.22530285376151385, -0.49243646231608107, 0.6506254048847141, 0.1778758567456676, 0.6403669724770642], "std": [0.1309232370959639, 0.021050156874151214, 0.2221295813409414, 0.021901304544313004, 1.5898400395116532, 1.0943157612456396, 0.14688005956180264, 0.19055679646124465, 0.32154157175906173, 0.26837499783505386, 0.20016372294216714, 0.4798928141133293], "min": [0.0, -0.20999999344348907, -0.800000011920929, 0.3400000035762787, -3.3067939281463623, -2.102189064025879, 0.5678000450134277, -0.07254623621702194, -0.8907265663146973, -0.7517049312591553, -0.5396073460578918, 0.0], "max": [0.3499999940395355, 0.06999999284744263, 0.800000011920929, 0.38999998569488525, 1.2854111194610596, 2.8791821002960205, 1.0778741836547852, 0.5480352640151978, 0.8401593565940857, 0.8968794345855713, 0.5396072864532471, 1.0], "count": [2180]}, "action_is_hold": {"mean": [0.04954128440366973, 0.04954128440366973, 0.04954128440366973, 0.04954128440366973, 0.08073394495412844, 0.08073394495412844, 0.08073394495412844, 0.08073394495412844, 0.08073394495412844, 0.08073394495412844, 0.08073394495412844, 0.9380733944954128], "std": [0.21699526617718068, 0.21699526617718068, 0.21699526617718068, 0.21699526617718068, 0.27242609105273513, 0.27242609105273513, 0.27242609105273513, 0.27242609105273513, 0.27242609105273513, 0.27242609105273513, 0.27242609105273513, 0.24102220029545543], "min": [0.0, 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, 1.0], "count": [2180]}, "observation.state": {"mean": [-0.015745848052061053, 0.014366891567629414, -0.022092909487786395, 0.08363083965340501, -0.222822862542875, 0.6456239797243285, 0.6794495445735957, 0.7926510852684668, 0.7875459741561784, 1.4846255514599862, -1.3422297507797907, -1.331926584079725, -1.3482502692336336, -1.3875658417513612, -1.3364519230816343, 0.0783445139967534, 0.8408586152923216, -0.07873710427066621, 0.021870587011286562, -0.02224942244666227, -0.47923208261250494, 1.259885616128444, 1.5145706598706747, 0.3855162279321513, -0.02224942244666227, -0.021870587011286562], "std": [0.027572826795848125, 0.030019133185151568, 0.043573419431767, 0.04835611770279153, 0.4655658508373554, 0.104282120469161, 0.08750608846714035, 0.09685045761186374, 0.12611633929887733, 0.5700184349051616, 0.12329526417844239, 0.13929964396139413, 0.13639314286083784, 0.14999450863040462, 0.33229343558444013, 0.1076291403365312, 0.19476065369496975, 0.10566684578045832, 0.009829101859576358, 0.009545472379633064, 1.6473483013327481, 1.1184500294471629, 0.7379607626506707, 0.017473107791386836, 0.009545472379633064, 0.009829101859576358], "min": [-0.14804071187973022, -0.13542328774929047, -0.16627010703086853, -0.09985879063606262, -1.8978570699691772, 0.4771847724914551, 0.48333898186683655, 0.6575121283531189, 0.5722614526748657, 0.7728599309921265, -1.5608941316604614, -1.6133754253387451, -1.6343590021133423, -1.6601299047470093, -2.239110231399536, -0.07017107307910919, 0.5362091660499573, -0.4491024911403656, 0.014372911304235458, -0.03500000014901161, -3.543977975845337, -2.392987012863159, 0.23987644910812378, 0.35309186577796936, -0.03500000014901161, -0.03500000014901161], "max": [0.16419444978237152, 0.18274977803230286, 0.16977883875370026, 0.27003735303878784, 0.2331753671169281, 0.9460316896438599, 0.9234229922294617, 1.0694278478622437, 1.0573216676712036, 2.711962938308716, -1.1392910480499268, -1.0841096639633179, -1.0602656602859497, -1.0600312948226929, -0.7898573875427246, 0.5165644288063049, 1.214218020439148, 0.1040554866194725, 0.03500000014901161, -0.014884200878441334, 1.1677193641662598, 2.469094753265381, 3.086808681488037, 0.4133116900920868, -0.014884200878441334, -0.014372911304235458], "count": [2180]}, "observation.joint_vel": {"mean": [-0.0019304220300776444, -0.0024339287582391855, 0.002941893751751295, -0.004596317627836286, -0.019624837954602757, 0.00906862397911828, 0.005783435378311837, 0.005397418839783555, 0.007826142798555981, 0.008026081705541133, -0.005055153911047905, -0.0034722123345800188, 0.0009350044541953064, -0.0034851917213235112, -0.012004134791514435, 0.0030172982833008045, 0.0034289269994404246, -0.07373078608348206, -0.00012361277308208912, -0.013238515283589892], "std": [0.31739099930930575, 0.3103381235333254, 0.36899294303991076, 0.448904703756534, 0.2105471033074166, 0.8818544376058854, 0.8880059606628251, 0.6992619338958621, 0.6218150662578813, 0.18600765092397314, 0.47220512355422406, 0.7654260372036316, 0.8077550152724585, 0.7902828101302961, 0.2039310833136495, 0.19403382695341656, 0.1399151101303714, 0.1933867825132662, 0.008466924394137399, 0.013102283474225766], "min": [-2.5319666862487793, -4.188549995422363, -2.964566946029663, -4.462360382080078, -2.997494697570801, -5.0252604484558105, -5.491339683532715, -3.9375457763671875, -3.8991947174072266, -0.9007292985916138, -3.2252957820892334, -4.7021050453186035, -4.713399410247803, -5.503623008728027, -2.854412794113159, -1.4093743562698364, -1.086112380027771, -2.9996628761291504, -0.20007547736167908, -0.20006512105464935], "max": [2.8585708141326904, 2.188540458679199, 4.831166744232178, 3.3027944564819336, 0.9985746145248413, 1.6936988830566406, 1.8316915035247803, 4.338256359100342, 6.889260768890381, 1.1141432523727417, 2.50349760055542, 3.9900963306427, 3.737126588821411, 3.3309476375579834, 1.58328378200531, 2.9923558235168457, 1.9283751249313354, 1.2319062948226929, 0.20001696050167084, 0.20028848946094513], "count": [2180]}, "observation.eef_pose": {"mean": [-0.42387965514298975, 1.5561673678145873, 0.8068345650620417, 0.22491371948357433, -0.5499291945214665, 0.678881467732712, 0.1985789790476134], "std": [1.5898282616054205, 1.0937669347172623, 0.1472275880102374, 0.1904323692033839, 0.21220174496406022, 0.18178515659365263, 0.17982810982956815], "min": [-3.3068017959594727, -2.1022496223449707, 0.569471538066864, -0.07186740636825562, -0.8909703493118286, 0.02669990435242653, -0.006771206855773926], "max": [1.285660982131958, 2.8791821002960205, 1.0765326023101807, 0.548303484916687, -0.02938288450241089, 0.8968794345855713, 0.5414486527442932], "count": [2180]}, "observation.environment_state": {"mean": [0.05044996972567479, -0.0015695598654095419, 1.24167001247406, 3.1726200580596924, 0.4300000071525574, -0.6810755729675293, -7.060620029792562e-26, -9.313225746154785e-10, 0.7322131395339966, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.3283755900295571, 1.8795519423047338, 0.6839518222923673, 0.6549827884566551, 0.1751719010125746, -0.19689795374961705, 0.5834259206394947], "std": [0.009118054205875683, 0.013416787200529141, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4696188321452297, 0.7008904783235796, 0.22794824073757167, 0.16851077838166673, 0.1968620330991168, 0.2143363100667988, 0.21924216958073867], "min": [0.005726779345422983, -0.19819210469722748, 1.24167001247406, 3.1726200580596924, 0.4300000071525574, -0.6810755729675293, -7.060620029792562e-26, -9.313225746154785e-10, 0.7322131395339966, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.9838392734527588, 0.7428890466690063, 0.4300000071525574, 0.02418641932308674, -0.007907024584710598, -0.5485049486160278, 0.03191494941711426], "max": [0.05235988274216652, 0.0, 1.24167001247406, 3.1726200580596924, 0.4300000071525574, -0.6810755729675293, -7.060620029792562e-26, -9.313225746154785e-10, 0.7322131395339966, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.416494607925415, 2.886869192123413, 1.0401270389556885, 0.8429114818572998, 0.5410638451576233, 0.07071682065725327, 0.8920913338661194], "count": [2180]}, "action.command": {"mean": [-0.8756299946209418, 0.850141881886809, 0.8056303908489878, 0.6293978037977325, 0.0, 0.0, 0.7344709480250323, 0.38922155688622756, -0.4194109819479986, 1.5288783767206702, 0.8155519782961486, 0.24045706142507298, -0.5035586616957557, 0.6565172293775542, 0.199122782011685, 0.2222222222222222, -2.7629621229251895, -0.8937940437252782, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.744624640761303, -0.8654651040790462, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.732093394303522, -0.8442761437231753, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.663265791259894, -0.8033723129945642, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.6294767696316503, -0.7752634316933256, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.580534464170953, -0.738660720216126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.5269921987998387, -0.7057659846394002, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.4974993757840966, -0.6730984098771039, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.447443487263527, -0.6425111974988665, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.414674590615665, -0.6073543784999046, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.400297784003891, -0.588420264861163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.3324984061617813, -0.5419398546218872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.3007864270891463, -0.5194474348500997, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.252579727092711, -0.4769901588183491, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.198287909772216, -0.4496254470168042, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.1744707211726855, -0.4127686544626701, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.1565792360225644, -0.39707995763345927, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.094329675706495, -0.34771882085239186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.0689507752907375, -0.3314841464787972, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -2.011567083727412, -0.2822114639923352, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.9617995594729896, -0.2603398050580706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.9278814231648165, -0.21611737103021444, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.8946946508744185, -0.20057673915093685, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.8450917175837926, -0.1506394548576419, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.8308618228976465, -0.14174357081661706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.7625574524663075, -0.08483535702489003, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.727644617817983, -0.07171736645097491, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.6805184929310775, -0.019607767337510566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.6247990091307825, -0.0017967554701476538, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.5982732091631209, 0.04615117121143501, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.595849984834174, 0.0471223993461673, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.5364572721369125, 0.07362398930958339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.4957680441752201, 0.11625756285771602, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.4606213289148666, 0.1271585882210932, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.392548092273103, 0.18628464676752812, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.3781882294085848, 0.19296282479742996, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.321709492627312, 0.24710889473682693, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.2961256644305061, 0.2582051438443801, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.2636584874962558, 0.30429880308503865, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.2139088666739584, 0.32391091855634163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.1608126884748955, 0.3742194967109616, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.1319349553404736, 0.38916491861102964, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.0579670397173457, 0.4441400573534124, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.0497417129388376, 0.45482697882572143, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -1.021742586328202, 0.4951268604823521, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.9675773993259719, 0.5201721366714028, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.9289713146305886, 0.5621843237836822, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.8852147134412237, 0.5858451836750287, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.8257514969641421, 0.632211285040659, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.8030009770593723, 0.6512414423294929, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.7476020460369206, 0.695113215798966, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.7207241459053104, 0.7168532936763363, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.6968264960441268, 0.7502354670222066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.6386799010909906, 0.7822382676751674, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.5939807911880878, 0.8201560917772165, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.5565570883390283, 0.8477693375419167, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.49113518250088734, 0.8900767234193177, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.47445777885052337, 0.9132566399434033, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.447499523643686, 0.9433834625392401, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.3918399510263395, 0.9794740248628023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.3613612651824951, 1.0096240870091093, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, -0.31518413639870013, 1.044976253469451, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3239382578920917, 0.34138251192429486, 0.828959459116479, 0.332889218252747, -0.28398650585352875, 0.8389775568697633, 0.08262594288387218, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24558006960432976, 1.0836103554815053, 0.9631410969421268, 0.5281978656537831, -0.09693359893281013, 0.8242816150188446, 0.1004470842774026, 0.0], "std": [1.93001805074537, 1.75803567224117, 0.5907945388853807, 0.19406386928866737, 0.0, 0.0, 0.16355437284498675, 1.113877079626577, 1.5949235192647213, 1.1152760311618577, 0.14241537590553144, 0.18908911894250743, 0.28294432696373906, 0.263290015573342, 0.1811361325280862, 0.41573970964154905, 0.8619083401602, 1.5545428661334821, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.849479278363395, 1.5260733287543184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.8386561214352257, 1.5039821519097658, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.8752912571471141, 1.491370776523595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.883056003318985, 1.4736147404662783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.8995381027402162, 1.453819288433284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9266688610624529, 1.4424603048824889, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9230936128251006, 1.4152467253746746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9486686285181094, 1.4048658757756174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9461467278746548, 1.3762708436470037, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9405725381699871, 1.3586695735511054, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9687835676577384, 1.3373332968060705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.981021371058268, 1.3262702645244746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.9891024246213548, 1.2975462310443537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0242389337136055, 1.2946575933175433, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0080159662400854, 1.25759058093178, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0111030241520755, 1.2470292899122508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0284941061440456, 1.2178090425258272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0405358964336682, 1.2114991795989678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0517684937260212, 1.1791323809336558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0880668470567891, 1.1811123629763536, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0754857235424933, 1.1402315939802528, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0984738773033074, 1.140175042593055, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.0988323233530064, 1.101615495565765, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1058476076302202, 1.0983755735781875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1214346617380113, 1.0623576889770776, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1497316326928178, 1.0669524371834975, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.144132599604171, 1.0235971661054795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1932711786799888, 1.0354314131012086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1664199678614426, 0.984209971844729, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.1683067574972583, 0.9844414075796889, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.211116350778269, 0.9862283482081331, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2092843146531942, 0.9521921989507421, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2407047319454472, 0.960137802580604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2531706650684176, 0.9207696568953738, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2631765979891152, 0.9208118847047441, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2670389195519207, 0.8808159681026013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.285886251769319, 0.8820459533452469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.2690527566486853, 0.8374932668198442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3082044569512512, 0.8427161722637403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3125922580603906, 0.805972153586656, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3307846283365452, 0.8038736008476983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3561318411937633, 0.77445105521195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3531282953868262, 0.7645908468656427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.33791192328967, 0.7253778386039169, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3758378971623293, 0.7257452294605291, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3721120879143118, 0.6912024950755362, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.3983857197723222, 0.6865605711848277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4159985349096855, 0.6597799567347877, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.421094281454005, 0.6476746185696485, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4366441299197725, 0.6217523573373479, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.443609370825423, 0.6085204814758339, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4319132185729309, 0.5765128123504556, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4661137323719242, 0.5695367544690011, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4754528537110054, 0.5449917734096805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.4885333411300314, 0.5303954309596759, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.518992399698151, 0.5134707270396666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.5109782390266235, 0.49130132028084805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.507370777597601, 0.4660423445263648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.5331620733726763, 0.4515042696183968, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.534062259721323, 0.42858055709938553, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 1.5618661073343318, 0.41250400511970786, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.465651701806021, 1.0424920300872795, 0.14481872932082726, 0.21161879178961676, 0.22055749126310611, 0.03167642038046991, 0.05825988894982803, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1302596706949248, 0.27134276274211033, 0.00488781570114858, 0.026782316856105062, 0.12016158220932747, 0.03611236707000217, 0.07496939820155142, 0.0], "min": [-3.7006213665008545, -2.5854058265686035, 0.3400000035762787, -0.018739482387900352, 0.0, 0.0, -0.9998244047164917, -1.0, -3.3067939281463623, -2.102189064025879, 0.5678000450134277, -0.07254623621702194, -0.8907265663146973, -0.7517049312591553, -0.5396073460578918, 0.0, -3.6927196979522705, -2.5707101821899414, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.6609747409820557, -2.5116705894470215, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.636768341064453, -2.466651439666748, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.607459783554077, -2.4121434688568115, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.5820467472076416, -2.3648808002471924, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.5508840084075928, -2.306924343109131, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.5266082286834717, -2.2617764472961426, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.4932587146759033, -2.1997530460357666, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.4707911014556885, -2.1579678058624268, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.4353017807006836, -2.0919649600982666, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.414911985397339, -2.054044008255005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.377544403076172, -1.984547734260559, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.3590335845947266, -1.9501214027404785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.3195440769195557, -1.8766789436340332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.303154706954956, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.2618374824523926, -1.7693564891815186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.2472760677337646, -1.7422751188278198, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.203786611557007, -1.6613935232162476, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.1913974285125732, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.1461305618286133, -1.5541648864746094, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.135518789291382, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.088029146194458, -1.4461077451705933, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.0796401500701904, -1.4305061101913452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.030423879623413, -1.338973879814148, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -3.023761510848999, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.972271203994751, -1.2308216094970703, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.9678828716278076, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.914716958999634, -1.1237822771072388, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.912004232406616, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.856513500213623, -1.015535593032837, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.856125593185425, -1.014814019203186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.842912435531616, -0.9902400374412537, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.8002469539642334, -0.9108909964561462, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.7989940643310547, -0.9085610508918762, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.744368076324463, -0.8069677948951721, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.7408018112182617, -0.800335168838501, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.6884894371032715, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.683236598968506, -0.6932752728462219, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.63261079788208, -0.5991217494010925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.6250948905944824, -0.5851436853408813, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.5767319202423096, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.567478656768799, -0.47798943519592285, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.520853281021118, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.509387969970703, -0.3699522912502289, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.4649746417999268, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.451720952987671, -0.2627035975456238, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.4090957641601562, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.393681049346924, -0.15476128458976746, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.353217124938965, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.335963487625122, -0.047417979687452316, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.2973384857177734, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.2779741287231445, 0.06043021380901337, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.241459608078003, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.220205783843994, 0.16786770522594452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.1855809688568115, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.1622674465179443, 0.27562129497528076, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.12970232963562, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.104379892349243, 0.3832801878452301, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.0735301971435547, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.045692205429077, 0.49242743849754333, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.0161845684051514, 0.5473057627677917, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3067939281463623, -2.102189064025879, 0.649692177772522, 0.09849853813648224, -0.5807622671127319, 0.673814594745636, 0.0508488267660141, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9935197830200195, 0.7224159240722656, 0.9562128782272339, 0.41835665702819824, -0.5006082653999329, 0.673814594745636, 0.0508488267660141, 0.0], "max": [1.1446391344070435, 2.4873671531677246, 1.5707963705062866, 0.7502983808517456, 0.0, 0.0, 0.9999866485595703, 2.0, 1.2854111194610596, 2.8791821002960205, 1.0778741836547852, 0.5480352640151978, 0.8401593565940857, 0.8968794345855713, 0.5396072864532471, 1.0, -1.9639517068862915, 0.5473057627677917, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.9571362733840942, 0.5492427349090576, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.9546383619308472, 0.5499526262283325, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.85184907913208, 0.5791653990745544, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.8108619451522827, 0.5908139944076538, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.7466403245925903, 0.60906583070755, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.6679471731185913, 0.6314305067062378, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.6417686939239502, 0.6388704180717468, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.5680041313171387, 0.6598343253135681, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.5375730991363525, 0.6684828400611877, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.5283637046813965, 0.6711001396179199, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.4344120025634766, 0.6978012919425964, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.391355276107788, 0.7100380063056946, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.3356572389602661, 0.7258673906326294, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.2487930059432983, 0.7505542635917664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.240014910697937, 0.7530490159988403, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.219261646270752, 0.7589471340179443, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.140890121459961, 0.7812203764915466, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.1043481826782227, 0.7916056513786316, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -1.036551594734192, 0.8108735084533691, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.9531345963478088, 0.834580659866333, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.9308794736862183, 0.8409056067466736, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.8763821125030518, 0.8563938140869141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.8264468908309937, 0.8705854415893555, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.8057136535644531, 0.876477837562561, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.7229596972465515, 0.8999965786933899, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.6618148684501648, 0.9173740148544312, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.6198791861534119, 0.9292922019958496, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.5186070203781128, 0.9580738544464111, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.5169729590415955, 0.9585382342338562, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.5128006339073181, 0.9597240090370178, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.41372236609458923, 0.987882137298584, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.37473148107528687, 0.9989633560180664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.3104572594165802, 1.0172301530838013, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.23082779347896576, 1.0398609638214111, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.20719218254089355, 1.046578288078308, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.1471329778432846, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.10407720506191254, 1.0758836269378662, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.08721509575843811, 1.0806758403778076, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, -0.001170877367258072, 1.1051297187805176, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.05599290132522583, 1.1213756799697876, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.10173541307449341, 1.1343756914138794, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.1992008239030838, 1.162075400352478, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.20464178919792175, 1.1636216640472412, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.21853496134281158, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.3078584671020508, 1.1929559707641602, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.34301063418388367, 1.2029461860656738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.4111235439777374, 1.222303867340088, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.4869142770767212, 1.243843674659729, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.5143886804580688, 1.2516518831253052, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.5842027068138123, 1.2714930772781372, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.6175375580787659, 1.280966877937317, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.6305925846099854, 1.2846771478652954, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.7204439043998718, 1.3102129697799683, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.7738006114959717, 1.3253769874572754, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.8233502507209778, 1.3394590616226196, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.9170084595680237, 1.3660768270492554, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.926256537437439, 1.368705153465271, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 0.9498705863952637, 1.3754162788391113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 1.0294393301010132, 1.3980296850204468, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 1.060752511024475, 1.4069288969039917, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 1.132704496383667, 1.427377700805664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8968794345855713, 0.3469041585922241, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2854111194610596, 1.586578607559204, 0.9935640096664429, 0.5480352640151978, -0.02895417809486389, 0.8425371050834656, 0.3469041585922241, 0.0], "count": [2180]}, "action.applied": {"mean": [0.2925009107319724, 0.674112423762269, -1.1124181726930338, -0.3130733752195988, 0.6838360525052481, -1.1254645560039294, 0.2549065370625312, 0.7846672766252395, -1.2082328655304164, -0.18392446562647818, 0.7574612151318734, -1.221040519388444, -0.22509880533480017, 1.4852238337654586, -1.337890727120802, 0.07830887521128607, 0.8417581981201784, -0.0780727648640529, 0.002922018361064272, -0.002922018361064272], "std": [0.13290522205227046, 0.19518026681438977, 0.15353607359118518, 0.1368792245240841, 0.0882509942420075, 0.15335149616294444, 0.11688487781204382, 0.16568848914236498, 0.155119553368287, 0.10117111912151634, 0.117222336641894, 0.1594634995938006, 0.4693535020407312, 0.5704830843958912, 0.3328103356014401, 0.10954893127226589, 0.1952184618714687, 0.10751770939999888, 0.009681552136422413, 0.009681552136422413], "min": [-0.2193601131439209, 0.3245314359664917, -1.7360785007476807, -0.5641850829124451, 0.4048517346382141, -1.6629878282546997, -0.26100802421569824, 0.4316898584365845, -1.7543833255767822, -0.5925074815750122, 0.5514607429504395, -1.744816780090332, -1.9002083539962769, 0.7697634696960449, -2.24172306060791, -0.1147824078798294, 0.5328574180603027, -0.46251291036605835, 0.0, -0.03500000014901161], "max": [0.6653388738632202, 1.0990575551986694, -0.8035165071487427, 0.1555452048778534, 0.9355533123016357, -0.8262208700180054, 0.5477248430252075, 1.2305171489715576, -0.9325045943260193, 0.30276161432266235, 1.1264053583145142, -0.9551025032997131, 0.2729528546333313, 2.713010787963867, -0.7863648533821106, 0.5329573154449463, 1.2198009490966797, 0.14620192348957062, 0.03500000014901161, 0.0], "count": [2180]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2180]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2180]}, "sim_step_idx": {"mean": [2210.0], "std": [1258.6234544135907], "min": [31.0], "max": [4389.0], "count": [2180]}, "timestamp": {"mean": [43.58000000419283], "std": [25.172469091925986], "min": [0.0], "max": [87.16000366210938], "count": [2180]}, "frame_index": {"mean": [1089.5], "std": [629.3117272067954], "min": [0.0], "max": [2179.0], "count": [2180]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2180]}, "index": {"mean": [1089.5], "std": [629.3117272067954], "min": [0.0], "max": [2179.0], "count": [2180]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2180]}, "next.done": {"mean": [0.00045871559633027525], "std": [0.021412733976117076], "min": [0.0], "max": [1.0], "count": [2180]}, "observation.images.head": {"mean": [[[0.5287787184738421]], [[0.5139452310691702]], [[0.4783246097706769]]], "std": [[[0.1099762365129021]], [[0.11805017404204711]], [[0.13840686197728452]]], "min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.8784313725490196]], [[0.8784313725490196]], [[0.8784313725490196]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5883838244046042]], [[0.5438350140320727]], [[0.46246458372833293]]], "std": [[[0.15020355157407708]], [[0.13141868601129558]], [[0.17135849251803387]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.9215686274509803]], [[0.9058823529411765]]], "count": [100]}}}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,550 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 4359,
+ "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": [
+      3.988026097123652,
+      1.2754889308876476,
+      -0.13661455146003262
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_B_1",
+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      7.177246831569347,
+      -0.24728541448487054,
+      -0.14203673339681377
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       1.0,
+       1.0
+      ],
+      "center": [
+       5.551115123125783e-17,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "shim_board_1",
+     "cat_name": "shim_board",
+     "inst_id": 1,
+     "noun": "shim board",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      7.33767960872591,
+      -0.16959811076952197,
+      0.05736257477754936
+     ],
+     "bbox": {
+      "extent": [
+       0.457483214476726,
+       0.3205498199771951,
+       0.04200000036507845
+      ],
+      "center": [
+       0.15000000596046403,
+       1.1102230246251565e-16,
+       0.021000000182539225
+      ]
+     }
+    },
+    {
+     "id": "wedge_1",
+     "cat_name": "wedge",
+     "inst_id": 1,
+     "noun": "wedge",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.922898249273262,
+      1.1335118924557568,
+      0.06386657957822571
+     ],
+     "bbox": {
+      "extent": [
+       0.18585244345051782,
+       0.03525668841852983,
+       0.028000174786879273
+      ],
+      "center": [
+       0.05750000290572637,
+       6.418476861114186e-17,
+       0.014000000432133647
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "left_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "right_of",
+     "object": "table_A_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        607.7061061683956,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        607.3754374751866,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 55.53991912549515,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      4.336358220810823,
+      -1.4550419223473523,
+      -0.26817860588632597
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0034545225363202814,
+        -0.9995776319673901,
+        0.028855223868669955
+       ],
+       [
+        -0.02338972540530354,
+        0.0287667346071393,
+        0.9993124615081647
+       ],
+       [
+        -0.9997204544368945,
+        -0.0041270631819024794,
+        -0.023280471000004077
+       ]
+      ],
+      "t": [
+       0.03416419479862187,
+       -0.08682200219228882,
+       0.33429322289826396
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        617.2500342478374,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        617.548655622722,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      4.052766447951509,
+      -1.1612032871489888,
+      -0.3157727014692333
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.017356943317221596,
+        -0.9998337334638687,
+        0.005589449560045617
+       ],
+       [
+        -0.9382601518788614,
+        -0.014355819960515381,
+        0.34563246061317376
+       ],
+       [
+        -0.3454947523696107,
+        -0.011243480820582297,
+        -0.9383533237667454
+       ]
+      ],
+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.53822,
+       -2.3895,
+       0.45
+      ],
+      "ori": [
+       0.905915379524231,
+       0.0,
+       0.0,
+       0.4234588146209717
+      ]
+     },
+     "facing_yaw_deg": 50.10630139069349,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1035.3644,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n\n[ta[wedge]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0550": {
+    "frame_idx": 550,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0578": {
+    "frame_idx": 578,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1124": {
+    "frame_idx": 1124,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1196": {
+    "frame_idx": 1196,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1226": {
+    "frame_idx": 1226,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1232": {
+    "frame_idx": 1232,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1640": {
+    "frame_idx": 1640,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1641": {
+    "frame_idx": 1641,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1690": {
+    "frame_idx": 1690,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1692": {
+    "frame_idx": 1692,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2434": {
+    "frame_idx": 2434,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2451": {
+    "frame_idx": 2451,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3900": {
+    "frame_idx": 3900,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3967": {
+    "frame_idx": 3967,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 2180,
+    "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": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "names": [
+                "articulation_joint_pos.shim_board.0",
+                "articulation_joint_vel.shim_board.0",
+                "articulation_pose.shim_board.0",
+                "articulation_pose.shim_board.1",
+                "articulation_pose.shim_board.2",
+                "articulation_pose.shim_board.3",
+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6",
+                "object_pose.wedge.0",
+                "object_pose.wedge.1",
+                "object_pose.wedge.2",
+                "object_pose.wedge.3",
+                "object_pose.wedge.4",
+                "object_pose.wedge.5",
+                "object_pose.wedge.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1024
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "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
+            }
+        }
+    }
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 06:49:59"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25f37845238fab005b4d937cdc0145d431c884615208fb549c81b34ac53d39e
+size 24210038

N025/go2_arm/dr_off/seed_1043/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3930f4f5001eb2b9e39055ce8df85169f60a0def920a7cba4d0b16b3c0957132
+size 35139278

N025/go2_arm/dr_off/seed_1043/stationassembly/000/run_meta.json

@@ -0,0 +1,964 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-08 06:28:34",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobileWedgeSupportEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1043,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "Go2Plus": {
+                    "name": "go2plus",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.53822,
+                                -2.3895,
+                                0.45
+                            ],
+                            [
+                                -3.53822,
+                                -2.3895,
+                                0.45
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                50.1063
+                            ],
+                            [
+                                0,
+                                0,
+                                50.1063
+                            ]
+                        ],
+                        "initial_joint_pos": null
+                    },
+                    "action": {
+                        "base_action": "unified",
+                        "arm_action": "ik_curobo",
+                        "eef_action": "binary"
+                    },
+                    "reset": "default",
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "base_x",
+                            "base_y",
+                            "base_yaw",
+                            "base_height"
+                        ],
+                        "ik": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 400.0,
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "debug": false,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "batch_size": 1,
+                            "debug": false,
+                            "motiongen_num_instances": 1,
+                            "microbatch_wait_ms": 400.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "seed_use_live_joint_pos": true,
+                            "anchor_ik_seeds_to_current_state": false,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4,
+                            "max_attempts": 6,
+                            "joint_limit_retry_weight": 100000000.0,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_quadruped",
+                            "dwb_quadruped": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.2,
+                                "goal_cost_mode": "path",
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 0.63,
+                                "goal_pos_threshold": 0.09,
+                                "goal_yaw_threshold": 0.08,
+                                "goal_yaw_hysteresis": 0.02,
+                                "kp_goal_yaw": 4.0,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "min_vx": -0.35,
+                                "max_vx": 0.35,
+                                "min_vy": -0.25,
+                                "max_vy": 0.25,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "dynamic_window_source": "command",
+                                "default_height": 0.35,
+                                "safety_min_progress_speed": 0.1,
+                                "safety_stop_distance": 0.2,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "safety_release_distance": 0.35,
+                                "scan_type": "3d",
+                                "robot_type": "quadruped",
+                                "velocity_frame": "body"
+                            },
+                            "p_controller": {
+                                "velocity_frame": "body",
+                                "nav_upgrade_distance": 0.03,
+                                "nav_heading_target": -1,
+                                "kp_linear_x": 1.5,
+                                "kd_linear_x": 0.4,
+                                "kp_linear_y": 1.5,
+                                "kd_linear_y": 0.4,
+                                "kp_angular": 1.5,
+                                "kd_angular": 0.2,
+                                "kp_angular_turning_only": 1.5,
+                                "kd_angular_turning_only": 0.2,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.03,
+                                "angular_dead_zone": 0.05
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.5
+                    }
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8231182098388672,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4407838582992554,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/go2_base",
+                        "pos": [
+                            0.332051,
+                            0.038027,
+                            0.093559
+                        ],
+                        "ori": [
+                            169.9473,
+                            -88.6452,
+                            81.5985
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8517500162124634,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4393036365509033,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/piper_link6",
+                        "pos": [
+                            -0.074987,
+                            0.005289,
+                            0.045821
+                        ],
+                        "ori": [
+                            179.3135,
+                            -20.212,
+                            88.9402
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        1035.3644,
+                        1035.3644
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_B": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                3.0,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_B_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.62,
+                                    0.72,
+                                    0.78
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "shim_board": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.24167,
+                                3.17262,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -94.1445
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "shim_board_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "articulation",
+                                "collision": true,
+                                "fixed_base": true
+                            }
+                        }
+                    },
+                    "wedge": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -1.93155,
+                                1.35891,
+                                0.431
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                89.18589
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "wedge_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.02128,
+                                "physics_material": {
+                                    "static_friction": 0.8,
+                                    "dynamic_friction": 0.7,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 65,
+                    "min_agent_radius_cm": 30.0,
+                    "max_agent_radius_cm": 30.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                },
+                "B": {
+                    "center": [
+                        1.2,
+                        2.1
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_B"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.6,
+                    0.62,
+                    0.58,
+                    0.64,
+                    0.59,
+                    0.61,
+                    0.56,
+                    0.55,
+                    0.57,
+                    0.54,
+                    0.52,
+                    0.49,
+                    0.45,
+                    0.4,
+                    0.35,
+                    0.3
+                ],
+                "radii_B": [
+                    0.48,
+                    0.47,
+                    0.49,
+                    0.46,
+                    0.5,
+                    0.45,
+                    0.44,
+                    0.51,
+                    0.43
+                ],
+                "bearings_deg": [
+                    0.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0,
+                    -4.0,
+                    4.0
+                ],
+                "include_current": true,
+                "yaw_offsets_deg_B": [
+                    100.0,
+                    96.0,
+                    104.0,
+                    92.0,
+                    108.0,
+                    88.0
+                ],
+                "stand_height_m": 0.403
+            },
+            "assembly": {
+                "part": {
+                    "name": "wedge",
+                    "id": 0
+                },
+                "fixture": {
+                    "name": "shim_board",
+                    "id": 0
+                },
+                "support_z": 0.43,
+                "part_half_height": 0.014,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "target_deg": 0.0,
+                "tol_deg": 1.5,
+                "contact_gap": 0.002,
+                "stop_margin_deg": 0.3,
+                "board_touch_limit": 20,
+                "pre_height": 0.03,
+                "align_height": 0.0015,
+                "align_x": 0.4,
+                "insert_x": 0.205,
+                "umi": {
+                    "table_clearance": 0.002,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                },
+                "heading_link": "none",
+                "free_axis_yaw": true,
+                "approach_axis": "z",
+                "gap_open": 0.0675,
+                "hand": {
+                    "wrist_to_gripper_pos": [
+                        -0.00289,
+                        0.0,
+                        -0.0528
+                    ],
+                    "wrist_to_gripper_quat_wxyz": [
+                        1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "tcp_in_gripper": [
+                        0.00289,
+                        0.0,
+                        0.1686
+                    ]
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "wedge",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "articulation",
+                        "obj_name": "shim_board",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "wedge",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "articulation",
+                        "obj_name": "shim_board",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "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": 8,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "interp_validate_target": true
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.0,
+                    "max_reach": 1.0,
+                    "max_walks": 3,
+                    "reject_radius": 0.02,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true,
+                    "walk_extra_m": 0.05,
+                    "verify_min_steps": 60
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.05,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "table_A"
+                    ]
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.3,
+                        0.0,
+                        0.55
+                    ],
+                    "planner_mode": 1,
+                    "carry_down_deg": 20.0,
+                    "carry_fallbacks": [
+                        [
+                            0.25,
+                            0.0,
+                            0.45
+                        ],
+                        [
+                            0.35,
+                            0.0,
+                            0.5
+                        ],
+                        [
+                            0.3,
+                            0.0,
+                            0.65
+                        ],
+                        [
+                            0.2,
+                            0.0,
+                            0.5
+                        ],
+                        [
+                            0.3,
+                            0.15,
+                            0.55
+                        ],
+                        [
+                            0.3,
+                            -0.15,
+                            0.55
+                        ]
+                    ],
+                    "carry_pitch_forward": true
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_off_1043_r1/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "wedge",
+                "shim_board"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0ae6713d45a5e31c1e577306f9377d53b0a4560490e3ce096ba05210d757df
+size 704547

N025/go2_arm/dr_off/seed_1043/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,348 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    3.0,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "shim_board": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    1.24167001247406,
+                                    3.1726200580596924,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    -0.6810755729675293,
+                                    0.0,
+                                    0.0,
+                                    0.7322131395339966
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "collision": true,
+                                    "fixed_base": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    0.05235988274216652
+                                ],
+                                "joint_velocity": [
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ],
+                    "wedge": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.9315500259399414,
+                                    1.3589099645614624,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    0.7121124863624573,
+                                    -4.4517219066619873e-07,
+                                    -3.03611159324646e-07,
+                                    0.7020653486251831
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.02128,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.7,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -1.688057636783924e-05,
+                                    2.880723570797272e-07,
+                                    -9.620556738809682e-06
+                                ],
+                                "angular_velocity": [
+                                    3.448293500696309e-05,
+                                    -0.0008470292668789625,
+                                    1.404762406309601e-05
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1035.3644,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "Go2Plus": {
+                "root_pose": [
+                    [
+                        -3.542917013168335,
+                        -2.3925020694732666,
+                        0.35309186577796936,
+                        0.9039443731307983,
+                        0.001506667584180832,
+                        -0.0007444582879543304,
+                        0.4276466965675354
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        -0.010899015702307224,
+                        -0.012897621840238571,
+                        -0.0054593803361058235,
+                        -0.0042955600656569,
+                        0.0023549366742372513,
+                        -0.0006644843379035592
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.03496432304382324,
+                        -0.022616783156991005,
+                        -0.098577119410038,
+                        0.08205041289329529,
+                        1.658546898397617e-05,
+                        0.7205564975738525,
+                        0.7788853645324707,
+                        0.9983917474746704,
+                        0.9982921481132507,
+                        1.7057349681854248,
+                        -1.5494683980941772,
+                        -1.563865303993225,
+                        -1.5942237377166748,
+                        -1.5882309675216675,
+                        -0.9957008957862854,
+                        1.8427917893859558e-05,
+                        0.6994313597679138,
+                        1.2293430700083263e-06,
+                        0.03499983251094818,
+                        -0.03500000014901161
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0008593639358878136,
+                        0.00021634937729686499,
+                        -0.001386919291689992,
+                        0.0007465238450095057,
+                        0.0007637382950633764,
+                        -0.038113780319690704,
+                        -0.033849455416202545,
+                        -0.027248114347457886,
+                        -0.027935177087783813,
+                        -0.03737475350499153,
+                        -0.04024272784590721,
+                        -0.04485030472278595,
+                        -0.050448328256607056,
+                        -0.049653615802526474,
+                        -0.02603144198656082,
+                        0.00019004686328116804,
+                        0.01192486472427845,
+                        -0.00013180637324694544,
+                        -6.0264083003858104e-05,
+                        -2.6932939363177866e-06
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.33205100893974304,
+                        0.038026999682188034,
+                        0.09355899691581726,
+                        -0.5022302269935608,
+                        -0.499491810798645,
+                        0.5120040774345398,
+                        0.4859265089035034
+                    ]
+                ],
+                "wrist": [
+                    [
+                        -0.0749870017170906,
+                        0.005288999993354082,
+                        0.04582099989056587,
+                        0.1271296590566635,
+                        0.701795220375061,
+                        -0.6904057860374451,
+                        -0.12108422070741653
+                    ]
+                ]
+            }
+        }
+    }
+}

N025/go2_arm/dr_off/seed_1043/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c197a001092b13677c81a741986b5a0f6c832f4a3fcb8a6de73184c2bf834910
+size 978681

N025/go2_arm/dr_off/seed_1043/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 06:50:27"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2040/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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1803 rows vs ceil(3606/2) = 1803"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3635, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "52.99 MB, 1803 frames at 25 fps, mean luma 56..105, std 51, new picture 1802x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1803 vs 1803"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "55.09 MB, 1803 frames at 25 fps, mean luma 91..156, std 32, new picture 1802x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1803 vs 1803"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_on/seed_2040/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_on_2040/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2040/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1803  videos 2  robot_type Go2PlusCfg
+[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: 1803 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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1803 at dataset fps 25 = 72.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1803 rows vs ceil(3606/2) = 1803
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3635, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 52.99 MB, 1803 frames at 25 fps, mean luma 56..105, std 51, new picture 1802x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1803 vs 1803
+[PASS] video observation.images.wrist decodes, 640x480, not black: 55.09 MB, 1803 frames at 25 fps, mean luma 91..156, std 32, new picture 1802x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1803 vs 1803
+parquet size 20.02 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 128.35 MB; whole cell dir 129.9 MB
+RESULT: ALL PASS

N025/go2_arm/dr_on/seed_2040/report.json

@@ -0,0 +1,2219 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 2040,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2040,
+    "wedge": {
+      "dx": -0.03418,
+      "dy": -0.02796,
+      "yaw_deg": 8.07595
+    },
+    "shim_board": {
+      "dx": -0.05581,
+      "dy": -0.03422,
+      "yaw_deg": 4.83912
+    },
+    "wedge_mass": 0.02215,
+    "light": 1176.64314,
+    "spawn": {
+      "dx": -0.02739,
+      "dy": -0.11641,
+      "yaw_deg": 12.41577
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -2.03418,
+        1.37204,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        98.07595
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.14419,
+        3.11578,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -85.16088
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.02215,
+      "env.scene.background.intensity": [
+        1176.64314,
+        1176.64314
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.62739,
+          -2.61641,
+          0.06
+        ],
+        [
+          -3.62739,
+          -2.61641,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          72.41577
+        ],
+        [
+          0,
+          0,
+          72.41577
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "go2_arm",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/Bodies/go2_base",
+        "pos": [
+          0.332051,
+          0.038027,
+          0.093559
+        ],
+        "ori": [
+          169.9473,
+          -88.6452,
+          81.5985
+        ],
+        "focal_length": 1.8231182098388672,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4407838582992554
+      },
+      "wrist": {
+        "link": "Robot_0/Bodies/piper_link6",
+        "pos": [
+          -0.074987,
+          0.005289,
+          0.045821
+        ],
+        "ori": [
+          179.3135,
+          -20.212,
+          88.9402
+        ],
+        "focal_length": 1.8517500162124634,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4393036365509033
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 3636,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    },
+    "B": {
+      "center": [
+        1.2,
+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
+  },
+  "spawn_pose": [
+    -3.627389907836914,
+    -2.61641001701355,
+    1.2638936351495715
+  ],
+  "base_path": [
+    [
+      -3.628,
+      -2.617,
+      1.264
+    ],
+    [
+      -3.629,
+      -2.624,
+      1.27
+    ],
+    [
+      -3.631,
+      -2.629,
+      1.265
+    ],
+    [
+      -3.632,
+      -2.632,
+      1.26
+    ],
+    [
+      -3.628,
+      -2.626,
+      1.252
+    ],
+    [
+      -3.612,
+      -2.595,
+      1.228
+    ],
+    [
+      -3.588,
+      -2.554,
+      1.195
+    ],
+    [
+      -3.561,
+      -2.507,
+      1.155
+    ],
+    [
+      -3.531,
+      -2.453,
+      1.122
+    ],
+    [
+      -3.5,
+      -2.397,
+      1.105
+    ],
+    [
+      -3.463,
+      -2.339,
+      1.097
+    ],
+    [
+      -3.428,
+      -2.282,
+      1.091
+    ],
+    [
+      -3.393,
+      -2.22,
+      1.095
+    ],
+    [
+      -3.359,
+      -2.162,
+      1.09
+    ],
+    [
+      -3.328,
+      -2.1,
+      1.097
+    ],
+    [
+      -3.295,
+      -2.04,
+      1.096
+    ],
+    [
+      -3.265,
+      -1.978,
+      1.102
+    ],
+    [
+      -3.233,
+      -1.916,
+      1.1
+    ],
+    [
+      -3.202,
+      -1.854,
+      1.104
+    ],
+    [
+      -3.17,
+      -1.791,
+      1.103
+    ],
+    [
+      -3.139,
+      -1.729,
+      1.101
+    ],
+    [
+      -3.107,
+      -1.666,
+      1.104
+    ],
+    [
+      -3.076,
+      -1.605,
+      1.098
+    ],
+    [
+      -3.046,
+      -1.54,
+      1.103
+    ],
+    [
+      -3.015,
+      -1.479,
+      1.099
+    ],
+    [
+      -2.984,
+      -1.416,
+      1.103
+    ],
+    [
+      -2.954,
+      -1.354,
+      1.101
+    ],
+    [
+      -2.924,
+      -1.291,
+      1.104
+    ],
+    [
+      -2.892,
+      -1.229,
+      1.102
+    ],
+    [
+      -2.861,
+      -1.167,
+      1.105
+    ],
+    [
+      -2.829,
+      -1.104,
+      1.103
+    ],
+    [
+      -2.798,
+      -1.043,
+      1.101
+    ],
+    [
+      -2.768,
+      -0.98,
+      1.104
+    ],
+    [
+      -2.738,
+      -0.919,
+      1.097
+    ],
+    [
+      -2.707,
+      -0.855,
+      1.103
+    ],
+    [
+      -2.675,
+      -0.794,
+      1.098
+    ],
+    [
+      -2.645,
+      -0.731,
+      1.104
+    ],
+    [
+      -2.614,
+      -0.669,
+      1.1
+    ],
+    [
+      -2.584,
+      -0.607,
+      1.105
+    ],
+    [
+      -2.553,
+      -0.545,
+      1.1
+    ],
+    [
+      -2.522,
+      -0.483,
+      1.103
+    ],
+    [
+      -2.492,
+      -0.421,
+      1.102
+    ],
+    [
+      -2.461,
+      -0.36,
+      1.1
+    ],
+    [
+      -2.43,
+      -0.297,
+      1.104
+    ],
+    [
+      -2.399,
+      -0.236,
+      1.098
+    ],
+    [
+      -2.369,
+      -0.172,
+      1.102
+    ],
+    [
+      -2.337,
+      -0.111,
+      1.099
+    ],
+    [
+      -2.307,
+      -0.048,
+      1.102
+    ],
+    [
+      -2.275,
+      0.015,
+      1.1
+    ],
+    [
+      -2.244,
+      0.078,
+      1.104
+    ],
+    [
+      -2.213,
+      0.141,
+      1.101
+    ],
+    [
+      -2.182,
+      0.203,
+      1.103
+    ],
+    [
+      -2.152,
+      0.266,
+      1.103
+    ],
+    [
+      -2.123,
+      0.325,
+      1.1
+    ],
+    [
+      -2.099,
+      0.38,
+      1.105
+    ],
+    [
+      -2.079,
+      0.424,
+      1.098
+    ],
+    [
+      -2.062,
+      0.461,
+      1.104
+    ],
+    [
+      -2.047,
+      0.492,
+      1.105
+    ],
+    [
+      -2.039,
+      0.515,
+      1.105
+    ],
+    [
+      -2.032,
+      0.525,
+      1.12
+    ],
+    [
+      -2.034,
+      0.529,
+      1.208
+    ],
+    [
+      -2.036,
+      0.528,
+      1.333
+    ],
+    [
+      -2.037,
+      0.525,
+      1.492
+    ],
+    [
+      -2.034,
+      0.526,
+      1.648
+    ],
+    [
+      -2.033,
+      0.524,
+      1.816
+    ],
+    [
+      -2.035,
+      0.522,
+      1.972
+    ],
+    [
+      -2.033,
+      0.522,
+      1.989
+    ],
+    [
+      -2.027,
+      0.524,
+      1.936
+    ],
+    [
+      -2.026,
+      0.527,
+      1.883
+    ],
+    [
+      -2.025,
+      0.532,
+      1.826
+    ],
+    [
+      -2.024,
+      0.535,
+      1.781
+    ],
+    [
+      -2.026,
+      0.545,
+      1.739
+    ],
+    [
+      -2.031,
+      0.562,
+      1.702
+    ],
+    [
+      -2.035,
+      0.583,
+      1.656
+    ],
+    [
+      -2.038,
+      0.605,
+      1.627
+    ],
+    [
+      -2.044,
+      0.628,
+      1.596
+    ],
+    [
+      -2.049,
+      0.651,
+      1.585
+    ],
+    [
+      -2.049,
+      0.67,
+      1.584
+    ],
+    [
+      -2.048,
+      0.688,
+      1.582
+    ],
+    [
+      -2.044,
+      0.705,
+      1.574
+    ],
+    [
+      -2.044,
+      0.727,
+      1.576
+    ],
+    [
+      -2.046,
+      0.749,
+      1.575
+    ],
+    [
+      -2.049,
+      0.766,
+      1.574
+    ],
+    [
+      -2.052,
+      0.775,
+      1.572
+    ],
+    [
+      -2.053,
+      0.778,
+      1.572
+    ],
+    [
+      -2.054,
+      0.779,
+      1.572
+    ],
+    [
+      -2.054,
+      0.78,
+      1.572
+    ],
+    [
+      -2.054,
+      0.78,
+      1.572
+    ],
+    [
+      -2.054,
+      0.78,
+      1.572
+    ],
+    [
+      -2.054,
+      0.78,
+      1.572
+    ],
+    [
+      -2.053,
+      0.782,
+      1.572
+    ],
+    [
+      -2.053,
+      0.783,
+      1.572
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.782,
+      1.573
+    ],
+    [
+      -2.054,
+      0.781,
+      1.573
+    ],
+    [
+      -2.053,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.769,
+      1.573
+    ],
+    [
+      -2.054,
+      0.77,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.053,
+      0.776,
+      1.573
+    ],
+    [
+      -2.054,
+      0.773,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.773,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.776,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.053,
+      0.776,
+      1.573
+    ],
+    [
+      -2.054,
+      0.773,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.776,
+      1.573
+    ],
+    [
+      -2.053,
+      0.774,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.053,
+      0.776,
+      1.573
+    ],
+    [
+      -2.054,
+      0.773,
+      1.573
+    ],
+    [
+      -2.054,
+      0.774,
+      1.573
+    ],
+    [
+      -2.053,
+      0.776,
+      1.573
+    ],
+    [
+      -2.054,
+      0.773,
+      1.573
+    ],
+    [
+      -2.054,
+      0.775,
+      1.573
+    ],
+    [
+      -2.053,
+      0.775,
+      1.575
+    ],
+    [
+      -2.053,
+      0.775,
+      1.575
+    ],
+    [
+      -2.053,
+      0.776,
+      1.575
+    ],
+    [
+      -2.053,
+      0.773,
+      1.576
+    ],
+    [
+      -2.053,
+      0.776,
+      1.576
+    ],
+    [
+      -2.052,
+      0.775,
+      1.576
+    ],
+    [
+      -2.052,
+      0.774,
+      1.577
+    ],
+    [
+      -2.053,
+      0.777,
+      1.577
+    ],
+    [
+      -2.052,
+      0.774,
+      1.576
+    ],
+    [
+      -2.051,
+      0.774,
+      1.577
+    ],
+    [
+      -2.052,
+      0.775,
+      1.577
+    ],
+    [
+      -2.051,
+      0.774,
+      1.577
+    ],
+    [
+      -2.052,
+      0.776,
+      1.577
+    ],
+    [
+      -2.051,
+      0.774,
+      1.576
+    ],
+    [
+      -2.051,
+      0.773,
+      1.568
+    ],
+    [
+      -2.05,
+      0.768,
+      1.484
+    ],
+    [
+      -2.052,
+      0.764,
+      1.352
+    ],
+    [
+      -2.05,
+      0.762,
+      1.199
+    ],
+    [
+      -2.048,
+      0.758,
+      1.033
+    ],
+    [
+      -2.052,
+      0.76,
+      0.857
+    ],
+    [
+      -2.052,
+      0.762,
+      0.692
+    ],
+    [
+      -2.047,
+      0.761,
+      0.524
+    ],
+    [
+      -2.014,
+      0.763,
+      0.373
+    ],
+    [
+      -1.962,
+      0.752,
+      0.278
+    ],
+    [
+      -1.895,
+      0.733,
+      0.222
+    ],
+    [
+      -1.828,
+      0.716,
+      0.225
+    ],
+    [
+      -1.755,
+      0.7,
+      0.234
+    ],
+    [
+      -1.687,
+      0.696,
+      0.246
+    ],
+    [
+      -1.614,
+      0.694,
+      0.259
+    ],
+    [
+      -1.545,
+      0.698,
+      0.262
+    ],
+    [
+      -1.473,
+      0.708,
+      0.275
+    ],
+    [
+      -1.405,
+      0.718,
+      0.269
+    ],
+    [
+      -1.335,
+      0.733,
+      0.276
+    ],
+    [
+      -1.266,
+      0.747,
+      0.273
+    ],
+    [
+      -1.198,
+      0.765,
+      0.275
+    ],
+    [
+      -1.128,
+      0.781,
+      0.273
+    ],
+    [
+      -1.061,
+      0.801,
+      0.273
+    ],
+    [
+      -0.991,
+      0.818,
+      0.274
+    ],
+    [
+      -0.924,
+      0.839,
+      0.269
+    ],
+    [
+      -0.854,
+      0.857,
+      0.274
+    ],
+    [
+      -0.788,
+      0.877,
+      0.264
+    ],
+    [
+      -0.718,
+      0.897,
+      0.272
+    ],
+    [
+      -0.652,
+      0.915,
+      0.262
+    ],
+    [
+      -0.584,
+      0.937,
+      0.268
+    ],
+    [
+      -0.517,
+      0.954,
+      0.264
+    ],
+    [
+      -0.45,
+      0.975,
+      0.268
+    ],
+    [
+      -0.38,
+      0.993,
+      0.269
+    ],
+    [
+      -0.313,
+      1.013,
+      0.268
+    ],
+    [
+      -0.243,
+      1.031,
+      0.272
+    ],
+    [
+      -0.176,
+      1.051,
+      0.264
+    ],
+    [
+      -0.106,
+      1.07,
+      0.272
+    ],
+    [
+      -0.039,
+      1.09,
+      0.263
+    ],
+    [
+      0.03,
+      1.11,
+      0.271
+    ],
+    [
+      0.096,
+      1.128,
+      0.264
+    ],
+    [
+      0.164,
+      1.15,
+      0.268
+    ],
+    [
+      0.232,
+      1.167,
+      0.264
+    ],
+    [
+      0.298,
+      1.188,
+      0.266
+    ],
+    [
+      0.367,
+      1.205,
+      0.267
+    ],
+    [
+      0.433,
+      1.225,
+      0.264
+    ],
+    [
+      0.503,
+      1.243,
+      0.272
+    ],
+    [
+      0.569,
+      1.263,
+      0.264
+    ],
+    [
+      0.639,
+      1.283,
+      0.273
+    ],
+    [
+      0.706,
+      1.302,
+      0.266
+    ],
+    [
+      0.775,
+      1.323,
+      0.272
+    ],
+    [
+      0.843,
+      1.341,
+      0.267
+    ],
+    [
+      0.907,
+      1.362,
+      0.271
+    ],
+    [
+      0.967,
+      1.377,
+      0.27
+    ],
+    [
+      1.015,
+      1.393,
+      0.266
+    ],
+    [
+      1.056,
+      1.404,
+      0.273
+    ],
+    [
+      1.088,
+      1.414,
+      0.271
+    ],
+    [
+      1.107,
+      1.419,
+      0.268
+    ],
+    [
+      1.119,
+      1.422,
+      0.272
+    ],
+    [
+      1.122,
+      1.42,
+      0.339
+    ],
+    [
+      1.125,
+      1.422,
+      0.472
+    ],
+    [
+      1.13,
+      1.42,
+      0.611
+    ],
+    [
+      1.129,
+      1.423,
+      0.777
+    ],
+    [
+      1.13,
+      1.422,
+      0.932
+    ],
+    [
+      1.127,
+      1.422,
+      1.096
+    ],
+    [
+      1.13,
+      1.424,
+      1.264
+    ],
+    [
+      1.13,
+      1.423,
+      1.424
+    ],
+    [
+      1.131,
+      1.425,
+      1.528
+    ],
+    [
+      1.133,
+      1.428,
+      1.56
+    ],
+    [
+      1.132,
+      1.426,
+      1.582
+    ],
+    [
+      1.132,
+      1.423,
+      1.584
+    ],
+    [
+      1.131,
+      1.421,
+      1.576
+    ],
+    [
+      1.13,
+      1.428,
+      1.572
+    ],
+    [
+      1.129,
+      1.441,
+      1.564
+    ],
+    [
+      1.128,
+      1.46,
+      1.564
+    ],
+    [
+      1.126,
+      1.479,
+      1.564
+    ],
+    [
+      1.127,
+      1.498,
+      1.563
+    ],
+    [
+      1.131,
+      1.52,
+      1.576
+    ],
+    [
+      1.129,
+      1.545,
+      1.577
+    ],
+    [
+      1.125,
+      1.57,
+      1.575
+    ],
+    [
+      1.124,
+      1.588,
+      1.572
+    ],
+    [
+      1.126,
+      1.606,
+      1.56
+    ],
+    [
+      1.124,
+      1.628,
+      1.566
+    ],
+    [
+      1.122,
+      1.651,
+      1.566
+    ],
+    [
+      1.12,
+      1.678,
+      1.566
+    ],
+    [
+      1.118,
+      1.699,
+      1.565
+    ],
+    [
+      1.119,
+      1.716,
+      1.566
+    ],
+    [
+      1.122,
+      1.734,
+      1.563
+    ],
+    [
+      1.123,
+      1.755,
+      1.566
+    ],
+    [
+      1.119,
+      1.781,
+      1.569
+    ],
+    [
+      1.116,
+      1.806,
+      1.568
+    ],
+    [
+      1.115,
+      1.825,
+      1.566
+    ],
+    [
+      1.117,
+      1.841,
+      1.562
+    ],
+    [
+      1.119,
+      1.86,
+      1.566
+    ],
+    [
+      1.118,
+      1.883,
+      1.567
+    ],
+    [
+      1.115,
+      1.91,
+      1.568
+    ],
+    [
+      1.112,
+      1.932,
+      1.567
+    ],
+    [
+      1.112,
+      1.949,
+      1.566
+    ],
+    [
+      1.115,
+      1.966,
+      1.559
+    ],
+    [
+      1.117,
+      1.989,
+      1.565
+    ],
+    [
+      1.114,
+      2.015,
+      1.567
+    ],
+    [
+      1.11,
+      2.04,
+      1.566
+    ],
+    [
+      1.108,
+      2.058,
+      1.566
+    ],
+    [
+      1.11,
+      2.074,
+      1.561
+    ],
+    [
+      1.111,
+      2.095,
+      1.565
+    ],
+    [
+      1.11,
+      2.119,
+      1.567
+    ],
+    [
+      1.106,
+      2.145,
+      1.568
+    ],
+    [
+      1.104,
+      2.166,
+      1.567
+    ],
+    [
+      1.104,
+      2.183,
+      1.565
+    ],
+    [
+      1.107,
+      2.202,
+      1.561
+    ],
+    [
+      1.107,
+      2.226,
+      1.564
+    ],
+    [
+      1.104,
+      2.252,
+      1.567
+    ],
+    [
+      1.101,
+      2.275,
+      1.566
+    ],
+    [
+      1.1,
+      2.293,
+      1.566
+    ],
+    [
+      1.103,
+      2.31,
+      1.56
+    ],
+    [
+      1.104,
+      2.334,
+      1.57
+    ],
+    [
+      1.101,
+      2.357,
+      1.594
+    ],
+    [
+      1.103,
+      2.36,
+      1.615
+    ],
+    [
+      1.107,
+      2.361,
+      1.666
+    ],
+    [
+      1.107,
+      2.364,
+      1.741
+    ],
+    [
+      1.107,
+      2.37,
+      1.835
+    ],
+    [
+      1.103,
+      2.377,
+      1.94
+    ],
+    [
+      1.101,
+      2.388,
+      2.039
+    ],
+    [
+      1.098,
+      2.393,
+      2.137
+    ],
+    [
+      1.1,
+      2.396,
+      2.236
+    ],
+    [
+      1.1,
+      2.396,
+      2.355
+    ],
+    [
+      1.1,
+      2.398,
+      2.464
+    ],
+    [
+      1.102,
+      2.398,
+      2.567
+    ],
+    [
+      1.105,
+      2.399,
+      2.676
+    ],
+    [
+      1.107,
+      2.401,
+      2.798
+    ],
+    [
+      1.105,
+      2.402,
+      2.899
+    ],
+    [
+      1.107,
+      2.402,
+      3.003
+    ],
+    [
+      1.112,
+      2.403,
+      3.082
+    ],
+    [
+      1.114,
+      2.404,
+      3.141
+    ],
+    [
+      1.112,
+      2.405,
+      -3.091
+    ],
+    [
+      1.116,
+      2.403,
+      -3.069
+    ],
+    [
+      1.114,
+      2.406,
+      -3.048
+    ],
+    [
+      1.115,
+      2.406,
+      -3.043
+    ],
+    [
+      1.116,
+      2.406,
+      -3.043
+    ],
+    [
+      1.116,
+      2.405,
+      -3.044
+    ],
+    [
+      1.115,
+      2.408,
+      -3.044
+    ],
+    [
+      1.116,
+      2.409,
+      -3.044
+    ],
+    [
+      1.117,
+      2.41,
+      -3.044
+    ],
+    [
+      1.118,
+      2.41,
+      -3.044
+    ],
+    [
+      1.118,
+      2.41,
+      -3.044
+    ],
+    [
+      1.118,
+      2.41,
+      -3.044
+    ],
+    [
+      1.118,
+      2.41,
+      -3.045
+    ],
+    [
+      1.119,
+      2.41,
+      -3.043
+    ],
+    [
+      1.12,
+      2.41,
+      -3.042
+    ],
+    [
+      1.121,
+      2.41,
+      -3.042
+    ],
+    [
+      1.121,
+      2.409,
+      -3.042
+    ],
+    [
+      1.122,
+      2.408,
+      -3.042
+    ],
+    [
+      1.122,
+      2.408,
+      -3.042
+    ],
+    [
+      1.122,
+      2.407,
+      -3.042
+    ],
+    [
+      1.123,
+      2.407,
+      -3.042
+    ],
+    [
+      1.123,
+      2.407,
+      -3.042
+    ],
+    [
+      1.123,
+      2.407,
+      -3.043
+    ],
+    [
+      1.124,
+      2.407,
+      -3.043
+    ],
+    [
+      1.124,
+      2.407,
+      -3.043
+    ],
+    [
+      1.125,
+      2.408,
+      -3.043
+    ],
+    [
+      1.124,
+      2.407,
+      -3.043
+    ],
+    [
+      1.124,
+      2.407,
+      -3.043
+    ],
+    [
+      1.123,
+      2.406,
+      -3.043
+    ],
+    [
+      1.123,
+      2.406,
+      -3.044
+    ],
+    [
+      1.123,
+      2.406,
+      -3.044
+    ],
+    [
+      1.123,
+      2.406,
+      -3.045
+    ],
+    [
+      1.123,
+      2.406,
+      -3.045
+    ],
+    [
+      1.123,
+      2.405,
+      -3.045
+    ],
+    [
+      1.123,
+      2.405,
+      -3.045
+    ],
+    [
+      1.123,
+      2.405,
+      -3.045
+    ],
+    [
+      1.124,
+      2.406,
+      -3.045
+    ],
+    [
+      1.124,
+      2.406,
+      -3.046
+    ],
+    [
+      1.124,
+      2.406,
+      -3.046
+    ],
+    [
+      1.124,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ],
+    [
+      1.125,
+      2.406,
+      -3.046
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 488,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.253,
+        0.059
+      ]
+    },
+    {
+      "step": 607,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 607,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 1261,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1261,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1498,
+      "event": "picked",
+      "part": [
+        -2.034,
+        1.3687,
+        0.4605
+      ],
+      "gap_mm": 29.6,
+      "lift_mm": 30.5
+    },
+    {
+      "step": 1634,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1634,
+      "event": "stage_start",
+      "stage": "carry"
+    },
+    {
+      "step": 1785,
+      "event": "stage_done",
+      "stage": "carry",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1785,
+      "event": "stage_start",
+      "stage": "nav_B"
+    },
+    {
+      "step": 2432,
+      "event": "stage_done",
+      "stage": "nav_B",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 2432,
+      "event": "stage_start",
+      "stage": "stance_B"
+    },
+    {
+      "step": 2544,
+      "event": "enter_zone",
+      "zone": "B",
+      "base": [
+        1.127,
+        1.505
+      ]
+    },
+    {
+      "step": 3239,
+      "event": "stage_done",
+      "stage": "stance_B",
+      "skill_state": "finished"
+    },
+    {
+      "step": 3239,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 3239,
+      "event": "wp_start",
+      "name": "pre_insert",
+      "kind": "plan"
+    },
+    {
+      "step": 3239,
+      "event": "assemble_start",
+      "t_l6_part": [
+        -0.0109,
+        0.0003,
+        0.1404,
+        0.014,
+        -0.0046,
+        -0.9999,
+        0.0015
+      ]
+    },
+    {
+      "step": 3373,
+      "event": "wp_done",
+      "name": "pre_insert"
+    },
+    {
+      "step": 3373,
+      "event": "wp_start",
+      "name": "align",
+      "kind": "servo"
+    },
+    {
+      "step": 3404,
+      "event": "wp_done",
+      "name": "align"
+    },
+    {
+      "step": 3404,
+      "event": "wp_start",
+      "name": "insert",
+      "kind": "servo"
+    },
+    {
+      "step": 3472,
+      "event": "stop_condition",
+      "name": "board_level",
+      "wp": "insert"
+    },
+    {
+      "step": 3472,
+      "event": "wp_done",
+      "name": "insert"
+    },
+    {
+      "step": 3472,
+      "event": "release_start"
+    },
+    {
+      "step": 3556,
+      "event": "leave_start"
+    },
+    {
+      "step": 3607,
+      "event": "released",
+      "gap_mm": 70.0
+    },
+    {
+      "step": 3636,
+      "event": "success",
+      "ok": true,
+      "tilt_deg": -0.31,
+      "tilt_err_deg": -0.31,
+      "support_gap_mm": 0.9,
+      "wedge_on_plate": true,
+      "wedge_x_mm": 286.1,
+      "wedge_yaw_deg": 179.9,
+      "board_touch_steps": 0
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A",
+    "B"
+  ],
+  "interstation_path_lengths": {
+    "S": 3.042,
+    "S->A": 4.371,
+    "A->B": 0.973
+  },
+  "base_path_length": 8.386,
+  "distance_to_first_interaction": 3.91,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "tilt_deg": -0.31,
+    "tilt_err_deg": -0.31,
+    "support_gap_mm": 0.9,
+    "wedge_on_plate": true,
+    "wedge_x_mm": 286.1,
+    "wedge_yaw_deg": 179.9,
+    "board_touch_steps": 0
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 1175.9
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/completed/0.json

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

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f48c43011f5c3ff5e68b4e50b27079db14e5cc56f5c0938b70d44c737ccf67
+size 20020124

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1803, "magicsim/control_steps": 3606, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height."}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1315064190778958, -0.0034509476168877668, 0.03525706537185274, 0.3624181853719903, -0.7712036173582011, 1.279008866282086, 0.7862758323409725, 0.23086747237844465, -0.5396001846573449, 0.6385959184429486, 0.14225301220007752, 0.5790349417637272], "std": [0.13666644669593647, 0.02324209892949143, 0.22511783021091927, 0.021866028834989542, 1.5939429778120182, 1.1188419009720942, 0.15279269505140405, 0.23489086880161802, 0.28755259953475987, 0.2110692203668198, 0.21232196353233557, 0.4937139637283899], "min": [0.0, -0.2199999839067459, -0.800000011920929, 0.3400000035762787, -3.520514965057373, -2.281360149383545, 0.5678000450134277, -0.0821753516793251, -0.8783419728279114, -0.07571584731340408, -0.6198059320449829, 0.0], "max": [0.3499999940395355, 0.009999988600611687, 0.800000011920929, 0.38999998569488525, 1.3057781457901, 2.8231210708618164, 1.0688045024871826, 0.6308126449584961, 0.7811474800109863, 0.8492547273635864, 0.6198059320449829, 1.0], "count": [1803]}, "action_is_hold": {"mean": [0.058790904048807546, 0.058790904048807546, 0.058790904048807546, 0.058790904048807546, 0.09539656128674431, 0.09539656128674431, 0.09539656128674431, 0.09539656128674431, 0.09539656128674431, 0.09539656128674431, 0.09539656128674431, 0.949528563505269], "std": [0.23523293487505886, 0.23523293487505886, 0.23523293487505886, 0.23523293487505886, 0.29376190593983725, 0.29376190593983725, 0.29376190593983725, 0.29376190593983725, 0.29376190593983725, 0.29376190593983725, 0.29376190593983725, 0.2189156700487397], "min": [0.0, 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, 1.0], "count": [1803]}, "observation.state": {"mean": [-0.015577118148155017, 0.008786424673826156, -0.011972717170641377, 0.05692073131939673, -0.4033681389857292, 0.6527402925775637, 0.6636836144471923, 0.8207034433278122, 0.8078877913971709, 1.5137156973728787, -1.3350232372135833, -1.3181846370580654, -1.2969292702439488, -1.3273675049005849, -1.2991886748185901, 0.23929293509147678, 0.826514496696835, -0.313521289729016, 0.023110476273400744, -0.023498364633824254, -0.8190613605487003, 0.9864526590559926, 0.6618166057040674, 0.38794306975170034, -0.023498364633824254, -0.023110476273400744], "std": [0.033626349443061226, 0.03176959452171934, 0.03845426520015889, 0.04295237920768856, 0.6012382682577924, 0.0999762713510278, 0.09553807913158734, 0.09514466632690988, 0.09667799842985177, 0.6228695825197581, 0.12338828457705939, 0.13812979874407588, 0.16031429649289433, 0.17309223353572412, 0.35334035225564125, 0.3512809624400018, 0.22874567254934178, 0.3116738203045393, 0.010112738094660406, 0.009782822768699604, 1.6342648890212925, 1.1533417356735547, 1.6133579150353425, 0.017072963990853052, 0.009782822768699604, 0.010112738094660406], "min": [-0.18203021585941315, -0.14591136574745178, -0.15185514092445374, -0.14924511313438416, -2.106356620788574, 0.42894354462623596, 0.4679758548736572, 0.6327371597290039, 0.6554644703865051, 0.6975204348564148, -1.5618326663970947, -1.6348402500152588, -1.6313248872756958, -1.6569687128067017, -2.2267560958862305, -0.26775214076042175, 0.45458951592445374, -0.9713746309280396, 0.01437968946993351, -0.03500000014901161, -3.632462501525879, -2.6325297355651855, -3.1368727684020996, 0.3488299548625946, -0.03500000014901161, -0.03500000014901161], "max": [0.16993243992328644, 0.17770425975322723, 0.20406638085842133, 0.2550619840621948, 0.709181010723114, 0.9202580451965332, 0.8919615745544434, 1.0671054124832153, 1.0095335245132446, 2.6943728923797607, -1.1505951881408691, -1.117600679397583, -1.067126989364624, -1.0791410207748413, -0.8071932196617126, 0.9557058215141296, 1.2089643478393555, 0.1406368911266327, 0.03500000014901161, -0.014918571338057518, 1.1331908702850342, 2.4103715419769287, 3.1353509426116943, 0.4112190008163452, -0.014918571338057518, -0.01437968946993351], "count": [1803]}, "observation.joint_vel": {"mean": [0.0015656889169496134, 0.0016382440099922948, -0.004143760500529952, -0.0030069713719121757, -0.0248007100749714, -0.00031913823412556925, -0.007549327480043157, -0.013272667968037239, -0.005966444301326112, 0.004825082577835964, 0.0024583553017195016, 0.01786265963926521, 0.014447836061530949, 0.003943543849350127, -0.014130437704399682, 0.002608329333683003, 0.00810812920677811, -0.05684424480983899, 0.0001510510387802093, -0.011700357892891155], "std": [0.3896751965220522, 0.37004389327503895, 0.4478035437685801, 0.5239276579171962, 0.2882378375454097, 1.0123990972837627, 1.0424144229751904, 0.8228106615754234, 0.674914158341338, 0.19915753473461006, 0.6029359648873306, 0.9659322256812305, 0.9783223379723819, 0.9645311392605594, 0.21455349489966868, 0.31758006983338793, 0.16130471804064608, 0.29329572111510815, 0.008722279793317399, 0.013383075102537478], "min": [-2.9739174842834473, -4.001465797424316, -3.0869903564453125, -4.83076286315918, -2.5778772830963135, -4.897368431091309, -5.802639007568359, -5.297738075256348, -3.0976266860961914, -0.8900641202926636, -4.192603588104248, -4.993844509124756, -6.070217609405518, -5.8454790115356445, -2.7568888664245605, -2.218731164932251, -1.2389672994613647, -2.438965320587158, -0.20009256899356842, -0.20002174377441406], "max": [3.592848777770996, 2.802838087081909, 5.157775402069092, 3.558941125869751, 2.409111261367798, 2.009711742401123, 1.5591484308242798, 5.59490442276001, 3.5178279876708984, 1.0480706691741943, 2.9895126819610596, 6.33845329284668, 3.5011861324310303, 4.174742698669434, 1.5594971179962158, 2.4287257194519043, 1.9306453466415405, 1.828359842300415, 0.20000693202018738, 0.20034876465797424], "count": [1803]}, "observation.eef_pose": {"mean": [-0.7725095949050491, 1.278440446071678, 0.7863904229482543, 0.2310329074692446, -0.5748296606329105, 0.6334466235672138, 0.1696031434762101], "std": [1.5942444808442684, 1.1181062329166611, 0.15327848309133088, 0.2340914298377759, 0.2127092768254405, 0.22274742186582294, 0.1910873525430119], "min": [-3.520514965057373, -2.281465530395508, 0.5688713192939758, -0.07901769876480103, -0.8786783218383789, -0.0974840298295021, 0.001970350742340088], "max": [1.30636727809906, 2.8231210708618164, 1.0673593282699585, 0.6308571100234985, -0.10051262378692627, 0.8491661548614502, 0.6221859455108643], "count": [1803]}, "observation.environment_state": {"mean": [0.050045497839959444, -0.001213985619620363, 1.1441898345947266, 3.1157801151275635, 0.4300000071525574, 0.736328125, 0.0, 0.0, -0.676624596118927, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6682730818291815, 1.685010690954878, 0.6590513058225776, 0.5958317995759508, 0.1359505055788492, -0.19150775934256253, 0.6258631405553352], "std": [0.010034232870953105, 0.014751313649843105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.478672755333285, 0.595209925437625, 0.2428673776147807, 0.2027319609522604, 0.20454420512070615, 0.2546719043167205, 0.2243338506723912], "min": [0.004238322377204895, -0.22184431552886963, 1.1441898345947266, 3.1157801151275635, 0.4300000071525574, 0.736328125, 0.0, 0.0, -0.676624596118927, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -2.0567283630371094, 0.7448627352714539, 0.4299764931201935, -0.10212180763483047, -0.0049807545728981495, -0.6202189922332764, 0.10527122020721436], "max": [0.05235988274216652, 0.0033097194973379374, 1.1441898345947266, 3.1157801151275635, 0.4300000071525574, 0.736328125, 0.0, 0.0, -0.676624596118927, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.4392074346542358, 2.830669641494751, 1.0287220478057861, 0.7885900735855103, 0.6110958456993103, 0.08871004730463028, 0.8853192925453186], "count": [1803]}, "action.command": {"mean": [-1.5044126144260357, 0.2543772826339029, 0.9474939331649594, 0.5958284610688617, 0.0, 0.0, 0.7460878159133544, 0.5205395462906193, -0.791231162051238, 1.2184379659570266, 0.7949584668797997, 0.2507649142074158, -0.5539174382303625, 0.6461200073805645, 0.16670412844377996, 0.32967032967032966, -2.787692265378104, -1.0646819604767694, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.7723854879538217, -1.0415447453657787, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.757780416144265, -1.014894833167394, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.7025287879837885, -0.9969091299507353, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.669505662388272, -0.9682967993948195, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.632180776860979, -0.951211960779296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.582397722535663, -0.9232606987158457, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.5592978596687317, -0.9000821676519182, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.50931653380394, -0.8653377576006783, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.4819501539071402, -0.8393376155032052, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.463758352730009, -0.8114459961652756, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.402755035294427, -0.7738824652300941, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.3673260841104717, -0.7421640985541873, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.3248015807734594, -0.7068850646416346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.2677961356110043, -0.6717307219902674, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.2482408616277905, -0.6398483796252145, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.2287314666642084, -0.6184612280792661, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.1697203152709537, -0.5720451159609689, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.142972230911255, -0.5519292089674208, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.0885584155718484, -0.5037182304594252, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.038867049747043, -0.4801867918835746, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.0065140773852668, -0.4348284403483073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.9748338278796937, -0.41982556879520416, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.9253621051708858, -0.36659016377396053, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.9124794751405716, -0.3599412424696816, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.8482114043500688, -0.30557937920093536, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.812246145473586, -0.2892984218067593, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.7900185502237744, -0.282482859161165, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.7123773644367855, -0.2187589920229382, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.7096884631448321, -0.21451137628820208, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.6856573522090912, -0.16899576948748696, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.6289073708984587, -0.14594696462154388, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.587857247226768, -0.0990439686510298, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.5483384314510558, -0.07782171169916789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.4876214613517125, -0.02840036816067166, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.4676009499364429, -0.009355747037463717, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.4196587122148938, 0.03307680951224433, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.3870629995233483, 0.05884666906462775, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.363245632706417, 0.09127372172143725, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.3065642174850736, 0.1271588702996572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.2633767140408356, 0.1618131614393658, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.2260856139991019, 0.19543048408296373, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.1635077835785017, 0.23235256638791826, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.1456363474329312, 0.2636426521672143, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.1293645443187819, 0.28422422375943923, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.0649435694019, 0.33206096125973594, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -1.0390237015154626, 0.3520573659075631, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.9843547178639306, 0.4002266575892766, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.9387878841824002, 0.42270105083783466, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.903587626086341, 0.46875232126977706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.8633662528461881, 0.48629675060510635, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.8231101433436075, 0.5368003464407392, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.8143760479158826, 0.5423853397369385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.745409596297476, 0.5994605761435297, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.7145071725050608, 0.612924744685491, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.6881693402926127, 0.6207935267852412, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.6146383285522461, 0.6834641461157136, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.6078402664926317, 0.6887631165898509, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.5730717413955264, 0.7374442317523062, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.5270954569180807, 0.7573187425732613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.49019040995173985, 0.8031586520373821, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.44652746783362496, 0.8254421345061727, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -0.3924073576927185, 0.8749574046168063, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3807788147572793, 0.2540273568988626, 0.8278301479964475, 0.37106325705018306, -0.33910322028632256, 0.7947577572141598, 0.06826529371266077, 0.0, -2.1559996604919434, 0.26489782333374023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.12070631980896, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.1006479263305664, 0.3767009973526001, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.0689857006073, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.0444555282592773, 0.4902018904685974, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6200805052753964, -0.6664720427206231, 0.6729980490611911, 0.10378973353589695, -0.5241470244104062, 0.8425258094876695, 0.06534899486338391, 0.0], "std": [1.804525277522533, 1.8275820181063807, 0.6079253268429738, 0.24427100231331733, 0.0, 0.0, 0.16933131809832033, 1.2082543425217858, 1.5983960312630607, 1.1354119748797928, 0.14956964864357367, 0.2370859881831712, 0.22608257944226842, 0.20481762039262238, 0.18909677409636422, 0.47009339859796523, 0.8688266401390292, 1.704174591115245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.8616249024509199, 1.6822648521216303, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.8494733835262696, 1.655024986921087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.8990899235110871, 1.6666933528739607, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9081290529403833, 1.6489278624385015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9359527366607718, 1.649976087463867, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.967104066918946, 1.6442223803888987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9697782652051895, 1.6274140012016882, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9933436444863751, 1.6123835904333084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9981959440985032, 1.594491963060809, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.9891802626301598, 1.5679070339265344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0235311088172256, 1.5562691979329708, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.032053966517732, 1.535795795328355, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0455051214093192, 1.5150884189713933, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0775440819654774, 1.504140482691489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.065659953113148, 1.47293130619464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0658284927714838, 1.4562269847731562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0874263857870996, 1.4310099227916866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.0982815419373007, 1.42085835425113, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1119528934163885, 1.3901120071761695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1480883436762324, 1.3904189433653547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1369532700532592, 1.349018562942198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1599904155748126, 1.3492134369221382, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1615691655945652, 1.3082367563921333, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.1703046617834656, 1.3075569440626875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.189429062726707, 1.2748156754176176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2164490586590289, 1.2760771935698931, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2368946688835374, 1.281353163318868, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2622484015307418, 1.2444993068141748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2607714775545535, 1.2403966873135766, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2388559360833324, 1.1932693209689176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.2845386045199554, 1.1989176610011487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.282698281783668, 1.1611357056364398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3085421154976493, 1.1579063738993538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3288447764780642, 1.1296565800258564, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3323674457772634, 1.1165348273266347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.34446403458022, 1.0895068864633755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3562426401692387, 1.0753961535233436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3491583989338736, 1.046254146882365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.3799411872422258, 1.0340795370723228, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.394957871989359, 1.01467643866442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.403661015645884, 0.9928058291995663, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.440757356203476, 0.9830986411775893, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4274119551864695, 0.9515949666231268, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4243863350490955, 0.9338629222639533, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4512351430127983, 0.9102598119999502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4611731506197752, 0.8997253692037928, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4752175716550635, 0.8692057055887686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.507319675070497, 0.8682461543243203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.4990115983116876, 0.8277710459130764, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.5299943293989635, 0.8301003538550887, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.5229879120352103, 0.7868061786324223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.5276673573261583, 0.7848534812457749, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.5496447026233482, 0.7514647602427171, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.57346678946674, 0.7532756837589506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.5979319991270922, 0.7598140569100161, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.6192661918510338, 0.7216978899916622, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.6218098790247362, 0.7188596452477332, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.609917180359287, 0.6744565709830865, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.6455408818472756, 0.6773686085504707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.6396480045777444, 0.6383148319161387, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.66954552356421, 0.6363592258515894, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 1.6834744455380914, 0.6079283426021179, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.482698614191671, 1.12916288207796, 0.14654212957009122, 0.253749024300438, 0.1953871043592485, 0.05963469965719366, 0.06999747958103948, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5104196680906501, 1.0071173936250162, 0.004443268302894007, 0.005536151708393946, 0.015052949330391049, 0.01041534480676913, 0.0033582815541301947, 0.0], "min": [-3.708735704421997, -2.8697001934051514, 0.3400000035762787, -0.07656445354223251, 0.0, 0.0, -0.9970646500587463, -1.0, -3.520514965057373, -2.281360149383545, 0.5678000450134277, -0.0821753516793251, -0.8783419728279114, -0.07571584731340408, -0.6198059320449829, 0.0, -3.7062056064605713, -2.8663153648376465, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.6832852363586426, -2.8200154304504395, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.6558337211608887, -2.7645678520202637, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.653036117553711, -2.758917808532715, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.6295690536499023, -2.71152400970459, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.62165904045105, -2.695547342300415, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.604808807373047, -2.661513328552246, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.584536075592041, -2.620565176010132, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.5594677925109863, -2.5699307918548584, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.537231206893921, -2.5250158309936523, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.5095081329345703, -2.4690189361572266, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.4848201274871826, -2.419152021408081, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.4584014415740967, -2.3657894134521484, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.4300973415374756, -2.3086187839508057, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.4069631099700928, -2.261890411376953, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.3748440742492676, -2.197014093399048, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.355512857437134, -2.1579673290252686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.3193347454071045, -2.0848920345306396, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.304062604904175, -2.054044008255005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.264101982116699, -1.9733283519744873, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.252612590789795, -1.9501214027404785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.2084877490997314, -1.8609950542449951, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.201162099838257, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.1533594131469727, -1.7496427297592163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.149711847305298, -1.7422751188278198, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.1056618690490723, -1.6532995700836182, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.098261833190918, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.097649097442627, -1.637114405632019, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.046811580657959, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -3.0425612926483154, -1.5258442163467407, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.995361328125, -1.4305061101913452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.9869065284729004, -1.4134286642074585, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.943910837173462, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.931713819503784, -1.301946759223938, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.892460584640503, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.876164197921753, -1.1897432804107666, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.841010332107544, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.820866823196411, -1.0780495405197144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.789560079574585, -1.0148138999938965, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.7654218673706055, -0.9660578966140747, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.738109827041626, -0.9108908772468567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.710019588470459, -0.8541522026062012, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.686659574508667, -0.8069677948951721, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.654679536819458, -0.7423723936080933, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.635209083557129, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.599172353744507, -0.6302550435066223, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.58375883102417, -0.5991217494010925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.5439374446868896, -0.5186874270439148, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.532308578491211, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.4883251190185547, -0.4063575267791748, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.480858325958252, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.433195114135742, -0.29500192403793335, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.429408073425293, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.3836758136749268, -0.19497916102409363, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.377957820892334, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.3774843215942383, -0.18247298896312714, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.326507568359375, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.3223986625671387, -0.07120687514543533, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.275057315826416, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.266741991043091, 0.04121258854866028, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.223607063293457, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.2115514278411865, 0.15269061923027039, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.172156810760498, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.5375173091888428, 0.002653449773788452, 0.0, -2.1559996604919434, 0.26489782333374023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.12070631980896, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.1006479263305664, 0.3767009973526001, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.0689857006073, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.0444555282592773, 0.4902018904685974, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.520514965057373, -2.281360149383545, 0.6550430059432983, 0.08924570679664612, -0.5883706212043762, 0.7998183369636536, 0.060704637318849564, 0.0], "max": [1.1307109594345093, 2.423985242843628, 1.5707963705062866, 0.770983099937439, 0.0, 0.0, 0.9999874830245972, 2.0, 1.3057781457901, 2.8231210708618164, 1.0688045024871826, 0.6308126449584961, 0.7811474800109863, 0.8492547273635864, 0.6198059320449829, 1.0, -1.9658645391464233, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.9573699235916138, 0.5497184991836548, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.9542590379714966, 0.5506020784378052, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.8520748615264893, 0.5796249508857727, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.8105015754699707, 0.5914328098297119, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.7468581199645996, 0.6095091700553894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.6676088571548462, 0.632017970085144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.641979455947876, 0.639297366142273, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.5697075128555298, 0.6598244309425354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.537751317024231, 0.6689007878303528, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.5280874967575073, 0.6716455817222595, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.43459153175354, 0.6982008218765259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.3911007642745972, 0.7105532884597778, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.3358527421951294, 0.726245105266571, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.2485414743423462, 0.7510437369346619, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.240227460861206, 0.7534051537513733, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.2205586433410645, 0.7589915990829468, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.1411179304122925, 0.7815547585487366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.1041018962860107, 0.7920682430267334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -1.0367562770843506, 0.8111960887908936, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.9528841972351074, 0.8350178599357605, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.9310639500617981, 0.8412153720855713, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.8775927424430847, 0.856402575969696, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.8266276717185974, 0.8708779215812683, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.8054820895195007, 0.8768838047981262, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.7231241464614868, 0.9002755284309387, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.6616005301475525, 0.9177497625350952, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.620033323764801, 0.9295558929443359, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.5184099078178406, 0.9584195017814636, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.5171180367469788, 0.9587864279747009, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.5138169527053833, 0.9597240090370178, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.41385549306869507, 0.9881156086921692, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.3745461404323578, 0.9992804527282715, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.3105815052986145, 1.0174480676651, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.23066014051437378, 1.0401477813720703, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.20730751752853394, 1.0467804670333862, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.1479230523109436, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.10418589413166046, 1.0760695934295654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.0870695486664772, 1.0809310674667358, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -0.0012705307453870773, 1.1053001880645752, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.0561213344335556, 1.1216009855270386, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.10164478421211243, 1.134530782699585, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.1993122398853302, 1.1622707843780518, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.20456019043922424, 1.1637613773345947, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.21797004342079163, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.3077874481678009, 1.1930805444717407, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.3431077301502228, 1.2031123638153076, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.4110614061355591, 1.2224129438400269, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.48699378967285156, 1.2439796924591064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.5143353939056396, 1.251745343208313, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.5838634967803955, 1.2714930772781372, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.6174921989440918, 1.2810444831848145, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.6306526064872742, 1.2847824096679688, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.7204075455665588, 1.3102750778198242, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.7738434076309204, 1.325452208518982, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.8233230113983154, 1.339505672454834, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.9170341491699219, 1.3661220073699951, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.9262382984161377, 1.3687362670898438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 0.94975745677948, 1.3754162788391113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 1.0294303894042969, 1.398045301437378, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 1.0607613325119019, 1.4069440364837646, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 1.132704496383667, 1.427377700805664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3057781457901, 1.5826904773712158, 0.9956914782524109, 0.6308126449584961, -0.10038795322179794, 0.8492547273635864, 0.39170974493026733, 0.0, -2.1559996604919434, 0.26489782333374023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.12070631980896, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.1006479263305664, 0.3767009973526001, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.0689857006073, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.0444555282592773, 0.4902018904685974, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8660050630569458, 0.894250214099884, 0.6803666353225708, 0.11959529668092728, -0.5145232677459717, 0.8492547273635864, 0.08003345876932144, 0.0], "count": [1803]}, "action.applied": {"mean": [0.3055218392616335, 0.6691337536423324, -1.1041493324260214, -0.31702125331782594, 0.6826745210359048, -1.0971200297557178, 0.24882239047944116, 0.7043134336066921, -1.1977998730677468, -0.18057878887982284, 0.7168322239263284, -1.2018834954159694, -0.406387645299365, 1.5143288826849879, -1.3006672670427324, 0.23924052762570017, 0.8273836295603384, -0.3131376117700743, 0.0026788685638178605, -0.0026788685638178605], "std": [0.13341627815376778, 0.11198569731333319, 0.17530133871417636, 0.148764407195717, 0.09378433692977617, 0.16327489647603957, 0.11921286606359287, 0.13560674682878285, 0.1781503916184695, 0.1086743197113441, 0.10441819653256576, 0.17400629926014274, 0.6047819652905775, 0.6232718763145383, 0.35381284395146206, 0.35289508527630153, 0.22922017435980224, 0.31242390168724343, 0.009305055795136088, 0.009305055795136088], "min": [-0.21438495814800262, 0.43897774815559387, -1.7482277154922485, -0.5900105237960815, 0.3573506772518158, -1.6557412147521973, -0.3087671101093292, 0.4028133749961853, -1.7589302062988281, -0.5947937369346619, 0.5447531938552856, -1.7699625492095947, -2.1079585552215576, 0.6946383714675903, -2.2339327335357666, -0.31064796447753906, 0.4490947723388672, -1.021468162536621, 0.0, -0.03500000014901161], "max": [0.6801755428314209, 0.9782757759094238, -0.8427127003669739, 0.22607696056365967, 0.922942042350769, -0.8294786214828491, 0.5529240369796753, 1.0909923315048218, -0.9705783128738403, 0.34412211179733276, 1.1368820667266846, -0.9188607335090637, 0.7446053624153137, 2.6966161727905273, -0.8038039207458496, 1.026973009109497, 1.21775484085083, 0.17985732853412628, 0.03500000014901161, 0.0], "count": [1803]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1803]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1803]}, "sim_step_idx": {"mean": [1833.0], "std": [1040.9623752406553], "min": [31.0], "max": [3635.0], "count": [1803]}, "timestamp": {"mean": [36.040000001515075], "std": [20.819247503876152], "min": [0.0], "max": [72.08000183105469], "count": [1803]}, "frame_index": {"mean": [901.0], "std": [520.4811876203277], "min": [0.0], "max": [1802.0], "count": [1803]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1803]}, "index": {"mean": [901.0], "std": [520.4811876203277], "min": [0.0], "max": [1802.0], "count": [1803]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1803]}, "next.done": {"mean": [0.0005546311702717693], "std": [0.023544076846135468], "min": [0.0], "max": [1.0], "count": [1803]}, "observation.images.head": {"mean": [[[0.3195800897772168]], [[0.30625214260180633]], [[0.3006181026969787]]], "std": [[[0.20938565204313628]], [[0.20871347057902245]], [[0.21276395857212482]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8274509803921568]], [[0.8509803921568627]], [[0.8901960784313725]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5100569993259655]], [[0.46882994663999344]], [[0.43596511336360316]]], "std": [[[0.1673358968174706]], [[0.1463853191145102]], [[0.172457173208515]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9764705882352941]], [[0.9803921568627451]]], "count": [100]}}}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,688 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 3606,
+ "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": [
+      4.428185422453262,
+      -0.28859326872123797,
+      -0.24435809798924207
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_B_1",
+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.834680691559451,
+      -2.875675531012344,
+      -0.32042312220051566
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       1.0,
+       1.0
+      ],
+      "center": [
+       5.551115123125783e-17,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "shim_board_1",
+     "cat_name": "shim_board",
+     "inst_id": 1,
+     "noun": "shim board",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      6.93340986810429,
+      -2.7877448807848157,
+      -0.12283630678583564
+     ],
+     "bbox": {
+      "extent": [
+       0.4637098956183605,
+       0.3306083049531985,
+       0.04200000036507845
+      ],
+      "center": [
+       0.14999999590418067,
+       -1.1878437068679748e-07,
+       0.021000000182539225
+      ]
+     }
+    },
+    {
+     "id": "wedge_1",
+     "cat_name": "wedge",
+     "inst_id": 1,
+     "noun": "wedge",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.301581696920852,
+      -0.2958770714575986,
+      -0.040739635947420555
+     ],
+     "bbox": {
+      "extent": [
+       0.19334565153210417,
+       0.08146469303434253,
+       0.028000370799744656
+      ],
+      "center": [
+       0.057500002905726696,
+       1.0408340855860843e-16,
+       0.014000000432133702
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "behind",
+     "object": "table_A_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        607.7061061683956,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        607.3754374751866,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 55.53991912549515,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.7465861800704867,
+      -2.9558023723498863,
+      -0.37029927307286215
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0034545225363202814,
+        -0.9995776319673901,
+        0.028855223868669955
+       ],
+       [
+        -0.02338972540530354,
+        0.0287667346071393,
+        0.9993124615081647
+       ],
+       [
+        -0.9997204544368945,
+        -0.0041270631819024794,
+        -0.023280471000004077
+       ]
+      ],
+      "t": [
+       0.03416419479862187,
+       -0.08682200219228882,
+       0.33429322289826396
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        617.2500342478374,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        617.548655622722,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.589554846423828,
+      -2.57818112353416,
+      -0.4124180076108873
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.017356943317221596,
+        -0.9998337334638687,
+        0.005589449560045617
+       ],
+       [
+        -0.9382601518788614,
+        -0.014355819960515381,
+        0.34563246061317376
+       ],
+       [
+        -0.3454947523696107,
+        -0.011243480820582297,
+        -0.9383533237667454
+       ]
+      ],
+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.62739,
+       -2.61641,
+       0.45
+      ],
+      "ori": [
+       0.8068790435791016,
+       0.0,
+       0.0,
+       0.5907167196273804
+      ]
+     },
+     "facing_yaw_deg": 72.41577104751796,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1176.64314,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n   [wedge]A]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0577": {
+    "frame_idx": 577,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0612": {
+    "frame_idx": 612,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0613": {
+    "frame_idx": 613,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0620": {
+    "frame_idx": 620,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0763": {
+    "frame_idx": 763,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0824": {
+    "frame_idx": 824,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0827": {
+    "frame_idx": 827,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0833": {
+    "frame_idx": 833,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0863": {
+    "frame_idx": 863,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0864": {
+    "frame_idx": 864,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1164": {
+    "frame_idx": 1164,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1236": {
+    "frame_idx": 1236,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1256": {
+    "frame_idx": 1256,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1280": {
+    "frame_idx": 1280,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1603": {
+    "frame_idx": 1603,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1604": {
+    "frame_idx": 1604,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1653": {
+    "frame_idx": 1653,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1659": {
+    "frame_idx": 1659,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2402": {
+    "frame_idx": 2402,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2407": {
+    "frame_idx": 2407,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2937": {
+    "frame_idx": 2937,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3141": {
+    "frame_idx": 3141,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3209": {
+    "frame_idx": 3209,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1803,
+    "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": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "names": [
+                "articulation_joint_pos.shim_board.0",
+                "articulation_joint_vel.shim_board.0",
+                "articulation_pose.shim_board.0",
+                "articulation_pose.shim_board.1",
+                "articulation_pose.shim_board.2",
+                "articulation_pose.shim_board.3",
+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6",
+                "object_pose.wedge.0",
+                "object_pose.wedge.1",
+                "object_pose.wedge.2",
+                "object_pose.wedge.3",
+                "object_pose.wedge.4",
+                "object_pose.wedge.5",
+                "object_pose.wedge.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1136
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "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
+            }
+        }
+    }
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 07:01:12"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6845ce61000ec30e987c8f79f649454233fd34c8b41663def18103bc2c01ce1
+size 52990008

N025/go2_arm/dr_on/seed_2040/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6dab55334c0860dc421c914060ddcc19fb7b48ae897cd85d63d94465f1149c
+size 55088139

N025/go2_arm/dr_on/seed_2040/stationassembly/000/run_meta.json

@@ -0,0 +1,964 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-08 06:42:09",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2040/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobileWedgeSupportEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 2040,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "Go2Plus": {
+                    "name": "go2plus",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.62739,
+                                -2.61641,
+                                0.45
+                            ],
+                            [
+                                -3.62739,
+                                -2.61641,
+                                0.45
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                72.41577
+                            ],
+                            [
+                                0,
+                                0,
+                                72.41577
+                            ]
+                        ],
+                        "initial_joint_pos": null
+                    },
+                    "action": {
+                        "base_action": "unified",
+                        "arm_action": "ik_curobo",
+                        "eef_action": "binary"
+                    },
+                    "reset": "default",
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "base_x",
+                            "base_y",
+                            "base_yaw",
+                            "base_height"
+                        ],
+                        "ik": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 400.0,
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "debug": false,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "batch_size": 1,
+                            "debug": false,
+                            "motiongen_num_instances": 1,
+                            "microbatch_wait_ms": 400.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "seed_use_live_joint_pos": true,
+                            "anchor_ik_seeds_to_current_state": false,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4,
+                            "max_attempts": 6,
+                            "joint_limit_retry_weight": 100000000.0,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_quadruped",
+                            "dwb_quadruped": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.2,
+                                "goal_cost_mode": "path",
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 0.63,
+                                "goal_pos_threshold": 0.09,
+                                "goal_yaw_threshold": 0.08,
+                                "goal_yaw_hysteresis": 0.02,
+                                "kp_goal_yaw": 4.0,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "min_vx": -0.35,
+                                "max_vx": 0.35,
+                                "min_vy": -0.25,
+                                "max_vy": 0.25,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "dynamic_window_source": "command",
+                                "default_height": 0.35,
+                                "safety_min_progress_speed": 0.1,
+                                "safety_stop_distance": 0.2,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "safety_release_distance": 0.35,
+                                "scan_type": "3d",
+                                "robot_type": "quadruped",
+                                "velocity_frame": "body"
+                            },
+                            "p_controller": {
+                                "velocity_frame": "body",
+                                "nav_upgrade_distance": 0.03,
+                                "nav_heading_target": -1,
+                                "kp_linear_x": 1.5,
+                                "kd_linear_x": 0.4,
+                                "kp_linear_y": 1.5,
+                                "kd_linear_y": 0.4,
+                                "kp_angular": 1.5,
+                                "kd_angular": 0.2,
+                                "kp_angular_turning_only": 1.5,
+                                "kd_angular_turning_only": 0.2,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.03,
+                                "angular_dead_zone": 0.05
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.5
+                    }
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8231182098388672,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4407838582992554,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/go2_base",
+                        "pos": [
+                            0.332051,
+                            0.038027,
+                            0.093559
+                        ],
+                        "ori": [
+                            169.9473,
+                            -88.6452,
+                            81.5985
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8517500162124634,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4393036365509033,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/piper_link6",
+                        "pos": [
+                            -0.074987,
+                            0.005289,
+                            0.045821
+                        ],
+                        "ori": [
+                            179.3135,
+                            -20.212,
+                            88.9402
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        1176.64314,
+                        1176.64314
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_B": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                3.0,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_B_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.62,
+                                    0.72,
+                                    0.78
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "shim_board": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.14419,
+                                3.11578,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -85.16088
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "shim_board_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "articulation",
+                                "collision": true,
+                                "fixed_base": true
+                            }
+                        }
+                    },
+                    "wedge": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.03418,
+                                1.37204,
+                                0.431
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                98.07595
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "wedge_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.02215,
+                                "physics_material": {
+                                    "static_friction": 0.8,
+                                    "dynamic_friction": 0.7,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 65,
+                    "min_agent_radius_cm": 30.0,
+                    "max_agent_radius_cm": 30.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                },
+                "B": {
+                    "center": [
+                        1.2,
+                        2.1
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_B"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.6,
+                    0.62,
+                    0.58,
+                    0.64,
+                    0.59,
+                    0.61,
+                    0.56,
+                    0.55,
+                    0.57,
+                    0.54,
+                    0.52,
+                    0.49,
+                    0.45,
+                    0.4,
+                    0.35,
+                    0.3
+                ],
+                "radii_B": [
+                    0.48,
+                    0.47,
+                    0.49,
+                    0.46,
+                    0.5,
+                    0.45,
+                    0.44,
+                    0.51,
+                    0.43
+                ],
+                "bearings_deg": [
+                    0.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0,
+                    -4.0,
+                    4.0
+                ],
+                "include_current": true,
+                "yaw_offsets_deg_B": [
+                    100.0,
+                    96.0,
+                    104.0,
+                    92.0,
+                    108.0,
+                    88.0
+                ],
+                "stand_height_m": 0.403
+            },
+            "assembly": {
+                "part": {
+                    "name": "wedge",
+                    "id": 0
+                },
+                "fixture": {
+                    "name": "shim_board",
+                    "id": 0
+                },
+                "support_z": 0.43,
+                "part_half_height": 0.014,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "target_deg": 0.0,
+                "tol_deg": 1.5,
+                "contact_gap": 0.002,
+                "stop_margin_deg": 0.3,
+                "board_touch_limit": 20,
+                "pre_height": 0.03,
+                "align_height": 0.0015,
+                "align_x": 0.4,
+                "insert_x": 0.205,
+                "umi": {
+                    "table_clearance": 0.002,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                },
+                "heading_link": "none",
+                "free_axis_yaw": true,
+                "approach_axis": "z",
+                "gap_open": 0.0675,
+                "hand": {
+                    "wrist_to_gripper_pos": [
+                        -0.00289,
+                        0.0,
+                        -0.0528
+                    ],
+                    "wrist_to_gripper_quat_wxyz": [
+                        1.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "tcp_in_gripper": [
+                        0.00289,
+                        0.0,
+                        0.1686
+                    ]
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "wedge",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "articulation",
+                        "obj_name": "shim_board",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "wedge",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "articulation",
+                        "obj_name": "shim_board",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "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": 8,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "interp_validate_target": true
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.0,
+                    "max_reach": 1.0,
+                    "max_walks": 3,
+                    "reject_radius": 0.02,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true,
+                    "walk_extra_m": 0.05,
+                    "verify_min_steps": 60
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.05,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "table_A"
+                    ]
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.3,
+                        0.0,
+                        0.55
+                    ],
+                    "planner_mode": 1,
+                    "carry_down_deg": 20.0,
+                    "carry_fallbacks": [
+                        [
+                            0.25,
+                            0.0,
+                            0.45
+                        ],
+                        [
+                            0.35,
+                            0.0,
+                            0.5
+                        ],
+                        [
+                            0.3,
+                            0.0,
+                            0.65
+                        ],
+                        [
+                            0.2,
+                            0.0,
+                            0.5
+                        ],
+                        [
+                            0.3,
+                            0.15,
+                            0.55
+                        ],
+                        [
+                            0.3,
+                            -0.15,
+                            0.55
+                        ]
+                    ],
+                    "carry_pitch_forward": true
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2040/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "wedge",
+                "shim_board"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f22d3a8d43a666b43d9b3ab39f96b688f04e102d585aa63fc6471ccb9dba5b7
+size 680245

N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,348 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    3.0,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "shim_board": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    1.1441899538040161,
+                                    3.1157801151275635,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    0.736328125,
+                                    0.0,
+                                    0.0,
+                                    -0.6766246557235718
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "collision": true,
+                                    "fixed_base": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    0.05235988274216652
+                                ],
+                                "joint_velocity": [
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ],
+                    "wedge": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.034179925918579,
+                                    1.372040033340454,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    0.6555582880973816,
+                                    -2.905726432800293e-07,
+                                    -5.010515451431274e-07,
+                                    0.7551445364952087
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.02215,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.7,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -4.9669877626001835e-05,
+                                    -2.8948995804967126e-06,
+                                    -2.4913379093050025e-05
+                                ],
+                                "angular_velocity": [
+                                    0.00018149387324228883,
+                                    -0.002344162669032812,
+                                    1.8467919289832935e-05
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1176.64314,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "Go2Plus": {
+                "root_pose": [
+                    [
+                        -3.6323025226593018,
+                        -2.6316709518432617,
+                        0.3488299548625946,
+                        0.8079344034194946,
+                        0.006895512342453003,
+                        -0.012422479689121246,
+                        0.5891009569168091
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        -0.0050894720479846,
+                        -0.014052273705601692,
+                        -0.003563970560207963,
+                        -0.011257655918598175,
+                        0.016260942444205284,
+                        -0.018139522522687912
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.06044338271021843,
+                        -0.0495343953371048,
+                        -0.07327979803085327,
+                        0.08218881487846375,
+                        -2.985712853842415e-06,
+                        0.5560930967330933,
+                        0.6866156458854675,
+                        1.0273191928863525,
+                        1.0072208642959595,
+                        1.7053254842758179,
+                        -1.4884997606277466,
+                        -1.5257236957550049,
+                        -1.5882030725479126,
+                        -1.6360440254211426,
+                        -0.9955459833145142,
+                        2.9888746212236583e-05,
+                        0.6995858550071716,
+                        -7.110846581781516e-06,
+                        0.034997545182704926,
+                        -0.03500000014901161
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        -0.0008469881722703576,
+                        -0.003937809262424707,
+                        -0.029916943982243538,
+                        -0.029786620289087296,
+                        -0.0003197345358785242,
+                        -0.046700622886419296,
+                        -0.04912792891263962,
+                        -0.042466018348932266,
+                        -0.06729056686162949,
+                        -0.03366409242153168,
+                        -0.013370432890951633,
+                        -0.04473971202969551,
+                        -0.02516636811196804,
+                        -0.011359010823071003,
+                        -0.027540238574147224,
+                        -0.00024008685431908816,
+                        0.010506653226912022,
+                        -1.7341757484246045e-05,
+                        5.9076537581859156e-05,
+                        -7.30702140572248e-07
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.33205100893974304,
+                        0.038026999682188034,
+                        0.09355899691581726,
+                        -0.5022302269935608,
+                        -0.499491810798645,
+                        0.5120040774345398,
+                        0.4859265089035034
+                    ]
+                ],
+                "wrist": [
+                    [
+                        -0.0749870017170906,
+                        0.005288999993354082,
+                        0.04582099989056587,
+                        0.1271296590566635,
+                        0.701795220375061,
+                        -0.6904057860374451,
+                        -0.12108422070741653
+                    ]
+                ]
+            }
+        }
+    }
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295205ba8acb0e6be64870d1f4e329c3b865d992ee4790626570d34e42085895
+size 800112

N025/go2_arm/dr_on/seed_2040/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 07:01:32"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2040/stationassembly/000/visual_dr.json

@@ -0,0 +1,676 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "wedge",
+   "shim_board"
+  ],
+  "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": 2040,
+   "seeds": {
+    "0": 2040
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 16213.893476,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6779.379173,
+     "rotate_deg": [
+      -0.681,
+      2.297,
+      -1.401
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1533.400214,
+     "intensity_base": 1176.6432,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6498.286128,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      308.95
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.748255,
+       0.753695,
+       0.82433
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8896,
+      0.8506,
+      0.973
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.518894,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Rough_Gravel.mdl",
+     "material": "/MmbVdrLooks/Ground_Rough_Gravel",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Natural_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "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": {
+    "wedge": 2,
+    "shim_board": 4
+   },
+   "physics_skip": {
+    "physics_binding": 7,
+    "rigid_body": 223,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/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": 2040,
+   "seeds": {
+    "0": 2040
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 16213.893476,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6779.379173,
+     "rotate_deg": [
+      -0.681,
+      2.297,
+      -1.401
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1533.400214,
+     "intensity_base": 1176.6432,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6498.286128,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      308.95
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.748255,
+       0.753695,
+       0.82433
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8896,
+      0.8506,
+      0.973
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.518894,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Rough_Gravel.mdl",
+     "material": "/MmbVdrLooks/Ground_Rough_Gravel",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Natural_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "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": {
+    "wedge": 2,
+    "shim_board": 4
+   },
+   "physics_skip": {
+    "physics_binding": 7,
+    "rigid_body": 223,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/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
+    }
+   ]
+  }
+ ]
+}

N025/sawyer_umi/dr_off/seed_1035/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1358 rows vs ceil(2716/2) = 1358"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2745, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "14.46 MB, 1358 frames at 25 fps, mean luma 90..146, std 37, new picture 1357x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1358 vs 1358"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.95 MB, 1358 frames at 25 fps, mean luma 96..157, std 41, new picture 1357x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1358 vs 1358"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/sawyer_umi/dr_off/seed_1035/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_saw_off_1035/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1035/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1358  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: 1358 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1358 at dataset fps 25 = 54.32 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1358 rows vs ceil(2716/2) = 1358
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2745, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 14.46 MB, 1358 frames at 25 fps, mean luma 90..146, std 37, new picture 1357x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1358 vs 1358
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.95 MB, 1358 frames at 25 fps, mean luma 96..157, std 41, new picture 1357x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1358 vs 1358
+parquet size 2.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 40.62 MB; whole cell dir 41.5 MB
+RESULT: ALL PASS

N025/sawyer_umi/dr_off/seed_1035/report.json

@@ -0,0 +1,1770 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1035,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1035,
+    "wedge": {
+      "dx": 0.04931,
+      "dy": -0.04482,
+      "yaw_deg": 2.97346
+    },
+    "shim_board": {
+      "dx": 0.04533,
+      "dy": -0.00765,
+      "yaw_deg": -0.18673
+    },
+    "wedge_mass": 0.03346,
+    "light": 1150.59443,
+    "spawn": {
+      "dx": 0.07492,
+      "dy": -0.14217,
+      "yaw_deg": -14.90137
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -1.95069,
+        1.35518,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        92.97346
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.24533,
+        3.14235,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -90.18673
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.03346,
+      "env.scene.background.intensity": [
+        1150.59443,
+        1150.59443
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.52508,
+          -2.64217,
+          0.06
+        ],
+        [
+          -3.52508,
+          -2.64217,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          45.09863
+        ],
+        [
+          0,
+          0,
+          45.09863
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2746,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    },
+    "B": {
+      "center": [
+        1.2,
+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
+  },
+  "spawn_pose": [
+    -3.5250794887542725,
+    -2.642169713973999,
+    0.7871197207676436
+  ],
+  "base_path": [
+    [
+      -3.525,
+      -2.642,
+      0.787
+    ],
+    [
+      -3.525,
+      -2.642,
+      0.787
+    ],
+    [
+      -3.525,
+      -2.642,
+      0.787
+    ],
+    [
+      -3.525,
+      -2.642,
+      0.788
+    ],
+    [
+      -3.513,
+      -2.62,
+      0.827
+    ],
+    [
+      -3.479,
+      -2.575,
+      0.92
+    ],
+    [
+      -3.446,
+      -2.525,
+      0.998
+    ],
+    [
+      -3.418,
+      -2.472,
+      1.05
+    ],
+    [
+      -3.393,
+      -2.417,
+      1.084
+    ],
+    [
+      -3.369,
+      -2.362,
+      1.107
+    ],
+    [
+      -3.347,
+      -2.306,
+      1.122
+    ],
+    [
+      -3.325,
+      -2.25,
+      1.133
+    ],
+    [
+      -3.304,
+      -2.194,
+      1.139
+    ],
+    [
+      -3.281,
+      -2.138,
+      1.144
+    ],
+    [
+      -3.259,
+      -2.082,
+      1.147
+    ],
+    [
+      -3.237,
+      -2.026,
+      1.149
+    ],
+    [
+      -3.215,
+      -1.97,
+      1.15
+    ],
+    [
+      -3.193,
+      -1.914,
+      1.151
+    ],
+    [
+      -3.169,
+      -1.859,
+      1.151
+    ],
+    [
+      -3.146,
+      -1.804,
+      1.152
+    ],
+    [
+      -3.122,
+      -1.749,
+      1.152
+    ],
+    [
+      -3.099,
+      -1.694,
+      1.152
+    ],
+    [
+      -3.075,
+      -1.639,
+      1.152
+    ],
+    [
+      -3.052,
+      -1.583,
+      1.152
+    ],
+    [
+      -3.028,
+      -1.528,
+      1.153
+    ],
+    [
+      -3.005,
+      -1.473,
+      1.153
+    ],
+    [
+      -2.981,
+      -1.418,
+      1.153
+    ],
+    [
+      -2.956,
+      -1.363,
+      1.153
+    ],
+    [
+      -2.931,
+      -1.309,
+      1.153
+    ],
+    [
+      -2.908,
+      -1.253,
+      1.153
+    ],
+    [
+      -2.884,
+      -1.199,
+      1.153
+    ],
+    [
+      -2.858,
+      -1.144,
+      1.153
+    ],
+    [
+      -2.835,
+      -1.089,
+      1.153
+    ],
+    [
+      -2.811,
+      -1.034,
+      1.153
+    ],
+    [
+      -2.786,
+      -0.98,
+      1.153
+    ],
+    [
+      -2.761,
+      -0.925,
+      1.153
+    ],
+    [
+      -2.738,
+      -0.87,
+      1.153
+    ],
+    [
+      -2.713,
+      -0.815,
+      1.153
+    ],
+    [
+      -2.688,
+      -0.76,
+      1.153
+    ],
+    [
+      -2.664,
+      -0.705,
+      1.153
+    ],
+    [
+      -2.64,
+      -0.65,
+      1.153
+    ],
+    [
+      -2.615,
+      -0.596,
+      1.153
+    ],
+    [
+      -2.591,
+      -0.541,
+      1.153
+    ],
+    [
+      -2.567,
+      -0.486,
+      1.153
+    ],
+    [
+      -2.542,
+      -0.431,
+      1.153
+    ],
+    [
+      -2.518,
+      -0.376,
+      1.153
+    ],
+    [
+      -2.494,
+      -0.321,
+      1.153
+    ],
+    [
+      -2.469,
+      -0.266,
+      1.153
+    ],
+    [
+      -2.444,
+      -0.211,
+      1.153
+    ],
+    [
+      -2.42,
+      -0.156,
+      1.153
+    ],
+    [
+      -2.396,
+      -0.101,
+      1.153
+    ],
+    [
+      -2.371,
+      -0.046,
+      1.153
+    ],
+    [
+      -2.347,
+      0.009,
+      1.153
+    ],
+    [
+      -2.323,
+      0.064,
+      1.153
+    ],
+    [
+      -2.298,
+      0.118,
+      1.153
+    ],
+    [
+      -2.273,
+      0.173,
+      1.153
+    ],
+    [
+      -2.25,
+      0.229,
+      1.153
+    ],
+    [
+      -2.225,
+      0.283,
+      1.153
+    ],
+    [
+      -2.191,
+      0.333,
+      1.153
+    ],
+    [
+      -2.161,
+      0.376,
+      1.153
+    ],
+    [
+      -2.135,
+      0.411,
+      1.153
+    ],
+    [
+      -2.114,
+      0.442,
+      1.153
+    ],
+    [
+      -2.096,
+      0.467,
+      1.153
+    ],
+    [
+      -2.08,
+      0.488,
+      1.153
+    ],
+    [
+      -2.067,
+      0.506,
+      1.153
+    ],
+    [
+      -2.057,
+      0.521,
+      1.177
+    ],
+    [
+      -2.056,
+      0.522,
+      1.281
+    ],
+    [
+      -2.056,
+      0.522,
+      1.357
+    ],
+    [
+      -2.056,
+      0.522,
+      1.413
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.056,
+      0.522,
+      1.459
+    ],
+    [
+      -2.055,
+      0.521,
+      1.3
+    ],
+    [
+      -2.055,
+      0.521,
+      1.14
+    ],
+    [
+      -2.055,
+      0.521,
+      0.98
+    ],
+    [
+      -2.055,
+      0.521,
+      0.82
+    ],
+    [
+      -2.055,
+      0.522,
+      0.684
+    ],
+    [
+      -2.032,
+      0.537,
+      0.56
+    ],
+    [
+      -1.985,
+      0.563,
+      0.477
+    ],
+    [
+      -1.934,
+      0.585,
+      0.422
+    ],
+    [
+      -1.877,
+      0.606,
+      0.385
+    ],
+    [
+      -1.82,
+      0.624,
+      0.361
+    ],
+    [
+      -1.771,
+      0.638,
+      0.344
+    ],
+    [
+      -1.73,
+      0.648,
+      0.334
+    ],
+    [
+      -1.684,
+      0.66,
+      0.327
+    ],
+    [
+      -1.64,
+      0.673,
+      0.322
+    ],
+    [
+      -1.601,
+      0.683,
+      0.319
+    ],
+    [
+      -1.554,
+      0.696,
+      0.317
+    ],
+    [
+      -1.514,
+      0.707,
+      0.315
+    ],
+    [
+      -1.471,
+      0.72,
+      0.314
+    ],
+    [
+      -1.428,
+      0.732,
+      0.314
+    ],
+    [
+      -1.391,
+      0.742,
+      0.313
+    ],
+    [
+      -1.345,
+      0.756,
+      0.313
+    ],
+    [
+      -1.308,
+      0.768,
+      0.299
+    ],
+    [
+      -1.266,
+      0.781,
+      0.285
+    ],
+    [
+      -1.225,
+      0.793,
+      0.275
+    ],
+    [
+      -1.188,
+      0.803,
+      0.267
+    ],
+    [
+      -1.143,
+      0.814,
+      0.262
+    ],
+    [
+      -1.106,
+      0.824,
+      0.259
+    ],
+    [
+      -1.064,
+      0.835,
+      0.256
+    ],
+    [
+      -1.022,
+      0.845,
+      0.255
+    ],
+    [
+      -0.985,
+      0.854,
+      0.254
+    ],
+    [
+      -0.941,
+      0.866,
+      0.253
+    ],
+    [
+      -0.904,
+      0.876,
+      0.253
+    ],
+    [
+      -0.862,
+      0.886,
+      0.253
+    ],
+    [
+      -0.821,
+      0.896,
+      0.252
+    ],
+    [
+      -0.784,
+      0.905,
+      0.252
+    ],
+    [
+      -0.74,
+      0.917,
+      0.252
+    ],
+    [
+      -0.703,
+      0.927,
+      0.252
+    ],
+    [
+      -0.661,
+      0.937,
+      0.252
+    ],
+    [
+      -0.621,
+      0.947,
+      0.252
+    ],
+    [
+      -0.584,
+      0.956,
+      0.252
+    ],
+    [
+      -0.54,
+      0.968,
+      0.252
+    ],
+    [
+      -0.503,
+      0.978,
+      0.252
+    ],
+    [
+      -0.461,
+      0.988,
+      0.252
+    ],
+    [
+      -0.42,
+      0.999,
+      0.252
+    ],
+    [
+      -0.384,
+      1.008,
+      0.252
+    ],
+    [
+      -0.34,
+      1.019,
+      0.252
+    ],
+    [
+      -0.303,
+      1.03,
+      0.252
+    ],
+    [
+      -0.261,
+      1.04,
+      0.252
+    ],
+    [
+      -0.221,
+      1.05,
+      0.252
+    ],
+    [
+      -0.184,
+      1.06,
+      0.252
+    ],
+    [
+      -0.14,
+      1.071,
+      0.252
+    ],
+    [
+      -0.103,
+      1.081,
+      0.252
+    ],
+    [
+      -0.061,
+      1.092,
+      0.252
+    ],
+    [
+      -0.02,
+      1.102,
+      0.252
+    ],
+    [
+      0.016,
+      1.111,
+      0.252
+    ],
+    [
+      0.061,
+      1.122,
+      0.252
+    ],
+    [
+      0.098,
+      1.132,
+      0.252
+    ],
+    [
+      0.14,
+      1.143,
+      0.252
+    ],
+    [
+      0.18,
+      1.153,
+      0.252
+    ],
+    [
+      0.216,
+      1.163,
+      0.252
+    ],
+    [
+      0.261,
+      1.174,
+      0.252
+    ],
+    [
+      0.298,
+      1.183,
+      0.252
+    ],
+    [
+      0.34,
+      1.194,
+      0.252
+    ],
+    [
+      0.38,
+      1.205,
+      0.252
+    ],
+    [
+      0.417,
+      1.214,
+      0.252
+    ],
+    [
+      0.461,
+      1.225,
+      0.252
+    ],
+    [
+      0.498,
+      1.235,
+      0.252
+    ],
+    [
+      0.54,
+      1.245,
+      0.252
+    ],
+    [
+      0.58,
+      1.256,
+      0.252
+    ],
+    [
+      0.617,
+      1.266,
+      0.252
+    ],
+    [
+      0.661,
+      1.277,
+      0.252
+    ],
+    [
+      0.698,
+      1.286,
+      0.252
+    ],
+    [
+      0.74,
+      1.297,
+      0.252
+    ],
+    [
+      0.78,
+      1.308,
+      0.252
+    ],
+    [
+      0.817,
+      1.318,
+      0.252
+    ],
+    [
+      0.861,
+      1.329,
+      0.252
+    ],
+    [
+      0.898,
+      1.338,
+      0.252
+    ],
+    [
+      0.939,
+      1.351,
+      0.252
+    ],
+    [
+      0.979,
+      1.366,
+      0.252
+    ],
+    [
+      1.014,
+      1.379,
+      0.252
+    ],
+    [
+      1.044,
+      1.39,
+      0.252
+    ],
+    [
+      1.069,
+      1.399,
+      0.252
+    ],
+    [
+      1.091,
+      1.407,
+      0.252
+    ],
+    [
+      1.108,
+      1.414,
+      0.252
+    ],
+    [
+      1.112,
+      1.418,
+      0.411
+    ],
+    [
+      1.112,
+      1.418,
+      0.571
+    ],
+    [
+      1.112,
+      1.418,
+      0.731
+    ],
+    [
+      1.112,
+      1.418,
+      0.891
+    ],
+    [
+      1.112,
+      1.418,
+      1.051
+    ],
+    [
+      1.112,
+      1.418,
+      1.188
+    ],
+    [
+      1.112,
+      1.418,
+      1.288
+    ],
+    [
+      1.112,
+      1.418,
+      1.363
+    ],
+    [
+      1.112,
+      1.418,
+      1.417
+    ],
+    [
+      1.112,
+      1.42,
+      1.44
+    ],
+    [
+      1.114,
+      1.454,
+      1.44
+    ],
+    [
+      1.118,
+      1.492,
+      1.44
+    ],
+    [
+      1.122,
+      1.529,
+      1.44
+    ],
+    [
+      1.125,
+      1.567,
+      1.44
+    ],
+    [
+      1.128,
+      1.605,
+      1.44
+    ],
+    [
+      1.132,
+      1.643,
+      1.44
+    ],
+    [
+      1.135,
+      1.681,
+      1.441
+    ],
+    [
+      1.139,
+      1.719,
+      1.442
+    ],
+    [
+      1.142,
+      1.757,
+      1.444
+    ],
+    [
+      1.146,
+      1.795,
+      1.446
+    ],
+    [
+      1.149,
+      1.834,
+      1.449
+    ],
+    [
+      1.152,
+      1.871,
+      1.451
+    ],
+    [
+      1.155,
+      1.91,
+      1.453
+    ],
+    [
+      1.159,
+      1.947,
+      1.455
+    ],
+    [
+      1.162,
+      1.986,
+      1.457
+    ],
+    [
+      1.166,
+      2.023,
+      1.459
+    ],
+    [
+      1.169,
+      2.059,
+      1.46
+    ],
+    [
+      1.172,
+      2.086,
+      1.46
+    ],
+    [
+      1.174,
+      2.105,
+      1.46
+    ],
+    [
+      1.176,
+      2.119,
+      1.46
+    ],
+    [
+      1.177,
+      2.13,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ],
+    [
+      1.177,
+      2.133,
+      1.46
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 536,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.31,
+        0.091
+      ]
+    },
+    {
+      "step": 683,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 683,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 690,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 690,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1151,
+      "event": "picked",
+      "part": [
+        -1.9462,
+        1.3587,
+        0.461
+      ],
+      "gap_mm": 32.3,
+      "lift_mm": 31.0
+    },
+    {
+      "step": 1199,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1199,
+      "event": "stage_start",
+      "stage": "carry"
+    },
+    {
+      "step": 1321,
+      "event": "stage_done",
+      "stage": "carry",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1321,
+      "event": "stage_start",
+      "stage": "nav_B"
+    },
+    {
+      "step": 2252,
+      "event": "stage_done",
+      "stage": "nav_B",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 2252,
+      "event": "stage_start",
+      "stage": "stance_B"
+    },
+    {
+      "step": 2285,
+      "event": "enter_zone",
+      "zone": "B",
+      "base": [
+        1.119,
+        1.506
+      ]
+    },
+    {
+      "step": 2474,
+      "event": "stage_done",
+      "stage": "stance_B",
+      "skill_state": "finished"
+    },
+    {
+      "step": 2474,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 2474,
+      "event": "wp_start",
+      "name": "pre_insert",
+      "kind": "plan"
+    },
+    {
+      "step": 2474,
+      "event": "assemble_start",
+      "t_l6_part": [
+        0.236,
+        -0.0153,
+        -0.0047,
+        0.4925,
+        0.4921,
+        -0.5075,
+        -0.5077
+      ]
+    },
+    {
+      "step": 2562,
+      "event": "wp_done",
+      "name": "pre_insert"
+    },
+    {
+      "step": 2562,
+      "event": "wp_start",
+      "name": "align",
+      "kind": "servo"
+    },
+    {
+      "step": 2630,
+      "event": "wp_done",
+      "name": "align"
+    },
+    {
+      "step": 2630,
+      "event": "wp_start",
+      "name": "insert",
+      "kind": "servo"
+    },
+    {
+      "step": 2713,
+      "event": "stop_condition",
+      "name": "board_level",
+      "wp": "insert"
+    },
+    {
+      "step": 2713,
+      "event": "wp_done",
+      "name": "insert"
+    },
+    {
+      "step": 2713,
+      "event": "release_start"
+    },
+    {
+      "step": 2717,
+      "event": "released",
+      "gap_mm": 39.3
+    },
+    {
+      "step": 2746,
+      "event": "success",
+      "ok": true,
+      "tilt_deg": -0.25,
+      "tilt_err_deg": -0.25,
+      "support_gap_mm": 1.13,
+      "wedge_on_plate": true,
+      "wedge_x_mm": 285.2,
+      "wedge_yaw_deg": 180.0,
+      "board_touch_steps": 0
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A",
+    "B"
+  ],
+  "interstation_path_lengths": {
+    "S": 2.995,
+    "S->A": 3.892,
+    "A->B": 0.63
+  },
+  "base_path_length": 7.516,
+  "distance_to_first_interaction": 3.497,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "tilt_deg": -0.25,
+    "tilt_err_deg": -0.25,
+    "support_gap_mm": 1.13,
+    "wedge_on_plate": true,
+    "wedge_x_mm": 285.2,
+    "wedge_yaw_deg": 180.0,
+    "board_touch_steps": 0
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 826.5
+}

N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/completed/0.json

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

N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c359f410399ab42d1e465cb7a2e0fd792aa605aa15d4ce5f6628d8abab3f1a
+size 2034789

N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1358, "magicsim/control_steps": 2716, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height."}

N025/sawyer_umi/dr_off/seed_1035/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1388590493128362, 0.00015337031405962269, 0.01245660365528128, -0.8144389198700704, 1.1191137167069627, 0.925411674779715, 0.0027803233028279783, 0.368584181383713, -0.03898081139996387, -0.39553929009476185, 0.6075110456553755], "std": [0.12286604637168551, 0.00957422133845832, 0.1816308475796095, 1.632041003604239, 1.1202771284793291, 0.23582535552654296, 0.2944920431766347, 0.4869087217758744, 0.3258064738854595, 0.5255581614989284, 0.48830459250562713], "min": [0.0, -0.06510331481695175, -0.800000011920929, -3.2901060581207275, -2.148258924484253, 0.6646679639816284, -0.493185818195343, -0.7074014544487, -0.4396871030330658, -0.7151869535446167, 0.0], "max": [0.30000001192092896, 0.03651534765958786, 0.800000011920929, 1.6960909366607666, 2.8563780784606934, 1.3033655881881714, 0.5227380990982056, 0.7132604122161865, 0.5091605186462402, 0.7776588797569275, 1.0], "count": [1358]}, "action_is_hold": {"mean": [0.009572901325478646, 0.009572901325478646, 0.009572901325478646, 0.047128129602356406, 0.047128129602356406, 0.047128129602356406, 0.047128129602356406, 0.047128129602356406, 0.047128129602356406, 0.047128129602356406, 0.8541973490427098], "std": [0.09737176636834464, 0.09737176636834464, 0.09737176636834464, 0.2119128806904838, 0.2119128806904838, 0.2119128806904838, 0.2119128806904838, 0.2119128806904838, 0.2119128806904838, 0.2119128806904838, 0.35290825710248996], "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": [1358]}, "observation.state": {"mean": [0.5218385485205278, -2.0985278936654375, 1.0132173835704534, 0.02841610103893807, 1.6716559695693504e-07, -1.515719531474303, -0.3678263903352768, 1.4912293098636509, -0.05918689911831518, 1.7412110492038446, 0.7707550930170866, 0.010026393744371913, -0.01563264335498624, -0.01563264335498624, -0.010026393744371913], "std": [1.8247253096458456, 0.5688445011784897, 0.5013645634998448, 0.10102757374309232, 2.6079484682271804e-05, 0.1894759127467872, 0.2590027261341663, 0.6504415089070186, 0.12995883222621188, 0.6385003546833711, 0.48548910264985745, 0.0065498320796634965, 0.00895504731897175, 0.00895504731897175, 0.0065498320796634965], "min": [-3.5250799655914307, -3.061553478240967, 0.25192511081695557, -0.3100382685661316, -0.00033134836121462286, -1.6785197257995605, -0.8398650884628296, 0.4904285967350006, -0.2624494731426239, 0.8423159122467041, -0.02317405864596367, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.1770331859588623, -1.4489747285842896, 1.459938406944275, 0.3156156539916992, 0.000482061441289261, -1.0604699850082397, 0.02331324853003025, 2.2609498500823975, 0.23456785082817078, 2.7050015926361084, 1.1904587745666504, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1358]}, "observation.joint_vel": {"mean": [0.12340665102575037, 0.0007188051813160005, 0.012376317293183236, 0.001404421675666775, 8.448708991470011e-05, 0.0059234166870808505, -0.008568868151650689, 0.028816801396818272, 0.008804746322084623, -0.022729152383902045, 0.043127938949237894, -0.023109320717331877, 0.00046578841404707437], "std": [0.11174448078162671, 0.08024267109809329, 0.18336044688036462, 0.07563459195231872, 0.0011701035802900368, 0.07237324709510963, 0.09191759736764192, 0.08678806657419053, 0.08040571646998834, 0.11206218797038364, 0.07336854416510567, 0.02854997514634514, 0.009079207778353133], "min": [-0.00030003132997080684, -0.14232946932315826, -0.8000552654266357, -0.3026704788208008, -0.021706972271203995, -0.1499628722667694, -0.19491462409496307, -0.202621728181839, -0.32549914717674255, -0.3198789060115814, -0.2791108787059784, -0.1001364141702652, -0.10009218752384186], "max": [0.30293941497802734, 0.1397516429424286, 0.8001296520233154, 0.1823727786540985, 0.018001772463321686, 0.1812644749879837, 0.38362249732017517, 0.20167593657970428, 0.3419509828090668, 0.29976195096969604, 0.324089378118515, 0.10001444816589355, 0.1009654775261879], "count": [1358]}, "observation.eef_pose": {"mean": [-0.8146116898895073, 1.1190538514557737, 0.9287647165149582, 0.07418375705274176, 0.6069893990814773, -0.025805936519341852, -0.6529044606153673], "std": [1.6320733359721864, 1.119729989545323, 0.23630922137515456, 0.28794820517416486, 0.07183657214253453, 0.327800641980562, 0.059853376825643394], "min": [-3.290356159210205, -2.148258924484253, 0.6656104326248169, -0.3023834824562073, 0.47572165727615356, -0.43991655111312866, -0.7620974779129028], "max": [1.6970864534378052, 2.856372833251953, 1.3050981760025024, 0.522737979888916, 0.7094144821166992, 0.5091606378555298, -0.4911101460456848], "count": [1358]}, "observation.environment_state": {"mean": [0.05145728143154258, -0.001584756976594485, 1.2453299760818481, 3.1423499584198, 0.429999977350235, -0.7059535384178162, 0.0, 0.0, 0.7082580924034119, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6514636429756419, 1.5287789311342281, 0.4976480264814683, 0.7753446797383552, -0.014329395492162531, 0.047333806411709485, 0.572969240626109], "std": [0.0060711901109824435, 0.013261589857652372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.429760696100637, 0.5581654141755727, 0.06334384721163423, 0.12678474282801988, 0.022863641239036045, 0.050029297723847274, 0.22136174364826178], "min": [0.004328504670411348, -0.15666955709457397, 1.2453299760818481, 3.1423499584198, 0.429999977350235, -0.7059535384178162, 0.0, 0.0, 0.7082580924034119, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.985910177230835, 0.8103658556938171, 0.4300000071525574, 0.6585133671760559, -0.08334372192621231, -0.013914093375205994, 0.22510983049869537], "max": [0.05235988274216652, 0.0018957239808514714, 1.2453299760818481, 3.1423499584198, 0.429999977350235, -0.7059535384178162, 0.0, 0.0, 0.7082580924034119, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.6591914892196655, 2.857203483581543, 0.5789421796798706, 0.9685193300247192, 0.027566267177462578, 0.14128637313842773, 0.7445166110992432], "count": [1358]}, "action.command": {"mean": [-2.208260961979197, -0.46335025491385623, 1.3909796726319097, 0.7414762255187347, 0.0, 0.0, 0.6709563949397791, 0.9188562596599691, -0.8115306790497793, 1.0855507448983523, 0.9343571537152693, -0.000997818556705625, 0.35289044876279196, -0.0432660884287394, -0.38113427648127907, 0.15151515151515152, -2.6178690375703755, -0.7272636199539358, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.5870011665604333, -0.6928917948495258, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.5181853292566356, -0.6284940820751768, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.4663650808912334, -0.5915389063231873, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.4288153381961766, -0.5363609174435789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.3485741263086144, -0.49612015169678314, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.2756296743949256, -0.42364972852396243, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.2318671824354115, -0.4028575253306013, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.1420257592743095, -0.32354975243409473, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.1193373916727123, -0.311393039244594, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -2.0890259742736816, -0.3009620932015506, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.983527734875679, -0.21241100087310327, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.9172804762016644, -0.18684114425471335, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.8827858793013024, -0.12948102842677722, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.8280511177850491, -0.09966918374552872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.7688508582386104, -0.04315519648970979, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.7489180287176913, -0.014758612170363918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.640680614520203, 0.046834781991712975, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.5750341564416885, 0.09439333934675563, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.5131394086462078, 0.13666273947014954, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.4100573178042064, 0.2011928836053068, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.3893058625134556, 0.22553651260607172, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.3352804449245785, 0.2850421669356751, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.2678759298992879, 0.313791511862567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.219514695306619, 0.3789678434982444, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.1470499633049422, 0.40189115725683444, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.077186308857618, 0.45124392301747296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -1.0262921235072568, 0.4899731527901057, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.9381783750246872, 0.5161427357657389, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.905534296832753, 0.5780551421710036, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.8836528811265122, 0.5942943391361923, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.7850175539426731, 0.6660751078390714, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.7495930005203594, 0.6934773355976425, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.6644194740237612, 0.7543835799971764, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.5933802371675317, 0.7981573099439795, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.543296934077234, 0.8438722680915486, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.43726165050810034, 0.9026254511466532, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.4210386167873036, 0.9359165421037963, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.3993085182525895, 0.9755862813555833, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.29688700378844235, 1.031413859264417, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.25014572658322076, 1.0763311469645211, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, -0.164245630755569, 1.0675493131081264, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9890934698509447, 0.5693303066672701, 1.0039863770056252, 0.02941615443037014, 0.5586007552390749, -0.0583537696399773, -0.6219102946495769, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1927909328091529, 1.2279865123892344, 0.7934601306915283, -0.25707367857297264, 0.5647279130515231, -0.39981971174798986, -0.6597073431937925, 0.0], "std": [1.410528957300619, 1.7048811950980713, 0.4892160762299949, 0.003702011491299722, 0.0, 0.0, 0.00409792842774364, 1.381731074759264, 1.6370929995978278, 1.1265046553071953, 0.23450523743673568, 0.29952671081510973, 0.4933306902276301, 0.33157773111705136, 0.5341316253677325, 0.35855028988482524, 0.7157026105023446, 1.5041972208858325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.7158700025384754, 1.4751503299986688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.7291323585232885, 1.4291401461595041, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.7512784657665619, 1.4121787607254406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.737397428346656, 1.3563573317109008, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.7895867084256738, 1.3561244090968243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.7992089919389149, 1.300902028755809, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.8288890907439606, 1.3025447538621373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.8512260084744195, 1.249781751078653, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.8651622171825455, 1.248522554464632, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.8899039574573647, 1.2557462955695273, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9209577039530422, 1.2008049659876243, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9678303500204332, 1.2027121904666322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9473458376379295, 1.1396263461953688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9772206793517674, 1.1285662636957623, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9847973699690495, 1.0812954452675223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.9778005354601167, 1.0517502226542712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.0341863550144037, 1.026037144896284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.057986984628874, 0.9956001429713439, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.0830478379823896, 0.9706431759796439, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.1307651036486623, 0.9376144734447699, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.1288003308206218, 0.9144488418804364, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.1276309196088494, 0.8597708965068549, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.1725369880427852, 0.8577356629006389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.1593524587900654, 0.7914643810497651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.2157673679929943, 0.8008921564256535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.2423821148095595, 0.7703343352488209, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.2589404178582198, 0.7440338740232306, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.3292749055142878, 0.7579766856780914, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.3021134567185606, 0.6871755989574242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.3096524445100077, 0.6764674388451154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.345084326189154, 0.6302653366910378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.3561561619339724, 0.6113117083363943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.3878508931514388, 0.5729834569145712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.4214460991690785, 0.5512361786585033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.4299920143265286, 0.5142941883896922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.4868481984592439, 0.4914131144828652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.4707787390690443, 0.45255728211510254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.454271284212613, 0.4076726512482131, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.510130746200272, 0.3869146301390683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.5158103075104052, 0.3491602719978463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 1.539437176913456, 0.39208010069026245, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6449462605379632, 1.0433150608815114, 0.25104920311630413, 0.3502176632340875, 0.034955088777135344, 0.4131011669057453, 0.0489399041333945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0472921505782047, 0.29975090808519755, 0.0, 0.09878037864496952, 0.04257933536281061, 0.08899875797914773, 0.02083768393740339, 0.0], "min": [-3.5251529216766357, -2.6421010494232178, 0.06000000238418579, 0.7371270656585693, 0.0, 0.0, 0.6621888875961304, -1.0, -3.2901060581207275, -2.148258924484253, 0.6646679639816284, -0.493185818195343, -0.7074014544487, -0.4396871030330658, -0.7151869535446167, 0.0, -3.4713330268859863, -2.5209949016571045, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.440664768218994, -2.4519851207733154, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.3876640796661377, -2.332720994949341, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.362252712249756, -2.2755396366119385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.308150053024292, -2.1537954807281494, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.2901437282562256, -2.113276958465576, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.2286736965179443, -1.9749547243118286, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.220304250717163, -1.9561214447021484, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.1570992469787598, -1.8138946294784546, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.151029586791992, -1.8002363443374634, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.1502223014831543, -1.7984195947647095, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.0817551612854004, -1.644351840019226, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.0714027881622314, -1.621056318283081, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -3.0124807357788086, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.9933712482452393, -1.4454665184020996, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.9432060718536377, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.9149296283721924, -1.2689540386199951, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.873931407928467, -1.1766982078552246, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.8366668224334717, -1.092844009399414, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.804656744003296, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.758476734161377, -0.9168974757194519, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.735382318496704, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.679962396621704, -0.7402209639549255, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.666107654571533, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.6020240783691406, -0.5648408532142639, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.5968332290649414, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.5587072372436523, -0.4673675298690796, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.5275585651397705, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.523317575454712, -0.3877324163913727, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.4582839012145996, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.445392608642578, -0.21238233149051666, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.3890092372894287, -0.08550629019737244, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.3667876720428467, -0.03550216183066368, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.3194096088409424, 0.07110991328954697, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.2884321212768555, 0.14081692695617676, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.248539686203003, 0.23058462142944336, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.2103044986724854, 0.31662312150001526, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.1749188899993896, 0.3962491750717163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.1335039138793945, 0.4894431233406067, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.097693920135498, 0.570024311542511, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2901060581207275, -2.148258924484253, 0.7934601306915283, -0.301960825920105, 0.48615267872810364, -0.4396871030330658, -0.7151869535446167, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9793872833251953, 0.834518313407898, 0.7934601306915283, -0.301960825920105, 0.5433068871498108, -0.4396871030330658, -0.7151869535446167, 0.0], "max": [1.1770260334014893, 2.1602890491485596, 1.5707963705062866, 0.7493369579315186, 0.0, 0.0, 0.6757541298866272, 2.0, 1.6960909366607666, 2.8563780784606934, 1.3033655881881714, 0.5227380990982056, 0.7132604122161865, 0.5091605186462402, 0.7776588797569275, 1.0, -2.017691135406494, 0.5341345071792603, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.9866828918457031, 0.5441480278968811, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.906745433807373, 0.5699622631072998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.8363537788391113, 0.5926938652992249, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.8104444742202759, 0.6010608077049255, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.6864380836486816, 0.6411062479019165, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.6054245233535767, 0.6672679781913757, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.5367727279663086, 0.689437747001648, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.4281998872756958, 0.7244992256164551, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.393824815750122, 0.7355999946594238, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.3427653312683105, 0.7520886659622192, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.6878215074539185, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.3896653950214386, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.2846032977104187, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.24729841947555542, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.1275249570608139, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, -0.03534255921840668, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.02943718060851097, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.17653241753578186, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.18639929592609406, 1.154310703277588, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.21460279822349548, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.3429507911205292, 1.1946065425872803, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.38766002655029297, 1.2061145305633545, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.49941229820251465, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 0.9694868922233582, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 1.126704216003418, 1.3963420391082764, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 1.3033586740493774, 0.5113012790679932, 0.6964453458786011, 0.49927327036857605, -0.502943754196167, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6960909366607666, 2.01845645904541, 0.7934601306915283, 0.11400991678237915, 0.6964453458786011, -0.05891522765159607, -0.6483148336410522, 0.0], "count": [1358]}, "action.applied": {"mean": [0.1388590493128362, 0.00015337031405962269, 0.01245660365528128, 0.028522399025059278, -1.5154569647624672, -0.3684659435398974, 1.4930809075684892, -0.05888310252277692, 1.7389072876352274, 0.7721342725768162, -0.0030069217286093244, 0.0030069217286093244], "std": [0.12286604637168551, 0.00957422133845832, 0.1816308475796095, 0.10102403252150628, 0.18961372149886033, 0.25878994850320614, 0.6497508847228612, 0.13018541795995733, 0.6384297117612613, 0.48490299199673154, 0.010753097143019192, 0.010753097143019192], "min": [0.0, -0.06510331481695175, -0.800000011920929, -0.31224605441093445, -1.6776208877563477, -0.8424534201622009, 0.4887416362762451, -0.2692950963973999, 0.8399947285652161, -0.029714379459619522, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.03651534765958786, 0.800000011920929, 0.3157842457294464, -1.061116337776184, 0.025125697255134583, 2.261831521987915, 0.23460452258586884, 2.7060165405273438, 1.1926414966583252, 0.020833000540733337, 0.009999999776482582], "count": [1358]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1358]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1358]}, "sim_step_idx": {"mean": [1388.0], "std": [784.0414529857461], "min": [31.0], "max": [2745.0], "count": [1358]}, "timestamp": {"mean": [27.140000002011547], "std": [15.680829059637773], "min": [0.0], "max": [54.279998779296875], "count": [1358]}, "frame_index": {"mean": [678.5], "std": [392.02072649287305], "min": [0.0], "max": [1357.0], "count": [1358]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1358]}, "index": {"mean": [678.5], "std": [392.02072649287305], "min": [0.0], "max": [1357.0], "count": [1358]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1358]}, "next.done": {"mean": [0.0007363770250368188], "std": [0.027126274604409223], "min": [0.0], "max": [1.0], "count": [1358]}, "observation.images.head": {"mean": [[[0.5298293407659852]], [[0.46698422449257654]], [[0.4171673954539069]]], "std": [[[0.1414038840860421]], [[0.17864146914468115]], [[0.174885090810476]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8627450980392157]], [[0.8235294117647058]], [[0.807843137254902]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5301769579553015]], [[0.4328791690868678]], [[0.36253330921410926]]], "std": [[[0.17122493199606525]], [[0.2018804483169927]], [[0.18898620156186136]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.9058823529411765]], [[0.8901960784313725]]], "count": [100]}}}