add N010/go2_arm/dr_on/seed_8045

N010/go2_arm/dr_on/seed_8045/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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1158 rows vs ceil(2316/2) = 1158"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2375, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "16.02 MB, 1158 frames at 25 fps, mean luma 92..123, std 19, new picture 1157x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1158 vs 1158"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "17.64 MB, 1158 frames at 25 fps, mean luma 79..167, std 30, new picture 1157x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1158 vs 1158"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/go2_arm/dr_on/seed_8045/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_go2_on_8045/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_go2_on_8045/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1158  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: 1158 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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'
+rows 1158 at dataset fps 25 = 46.32 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1158 rows vs ceil(2316/2) = 1158
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2375, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 16.02 MB, 1158 frames at 25 fps, mean luma 92..123, std 19, new picture 1157x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1158 vs 1158
+[PASS] video observation.images.wrist decodes, 640x480, not black: 17.64 MB, 1158 frames at 25 fps, mean luma 79..167, std 30, new picture 1157x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1158 vs 1158
+parquet size 2.34 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 36.24 MB; whole cell dir 37.5 MB
+RESULT: ALL PASS

N010/go2_arm/dr_on/seed_8045/config.yaml

@@ -0,0 +1,562 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    contact_reports: true
+    physx:
+      gpu_dynamics: false
+    seed: 8045
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_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: 20.0
+          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: 4
+          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: 0.1
+            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: 0.39
+            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: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            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: 0.01
+            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
+  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
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      hammer_rack:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.53
+          - - 1.2
+            - -1.8
+            - 0.53
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_rack_1:
+          visual: {}
+          physics:
+            type: geometry
+            collision: true
+      hammer:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.602
+          - - 1.2
+            - -1.8
+            - 0.602
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+      strike_block:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 2.1900000000000004
+            - 1.99
+            - 0.531
+          - - 2.21
+            - 2.01
+            - 0.531
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        strike_block_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+            track_contact_forces: true
+            prepare_contact_sensor: true
+            contact_filter_prim_paths_expr:
+            - /World/envs/env_.*/dynamic/hammer/hammer_1
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 12000
+    success_hold_frames: 3
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+      standoff_b: 0.42
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_go2_on_8045/out/reports.jsonl
+    carried:
+      type: rigid
+      name: hammer
+      id: 0
+    tracked:
+    - type: rigid
+      name: strike_block
+      id: 0
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.012
+      rotation_threshold: 0.25
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n010_go2_on_8045/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationHammer:
+      robot_id: 0
+      init_limit: 60
+      max_attempt: 2
+      completion_timeout_steps: 300
+      stages:
+        turn_first: true
+        pre_strike_linear: true
+        pre_clear: 0.06
+        lift: 0.08
+env_string: HammerEnv-V0

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/completed/0.json

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

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "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"
+ ]
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e88098a96141213d883722643218389153a506ad4fb865ebc12c20e761666a
+size 2343457

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."], "length": 1158, "magicsim/control_steps": 2316, "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 hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front-left, at table height."}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.15996316543479477, 0.024538738858147762, 0.04307173459085118, 0.3750172622102942, 0.8606031410949424, -0.7804216147369877, 0.8154613712805746, 0.3176364794206178, -0.10664016323828165, 0.851363999238286, 0.1468134000792352, 0.6459412780656304], "std": [0.17816149876804357, 0.07655035273242457, 0.17191620740299038, 0.02290532478053663, 1.3761478678863883, 1.3070329664051112, 0.11014712332637246, 0.18875381060231497, 0.19894009505291685, 0.11846077226318484, 0.22830259002281142, 0.47822708346199455], "min": [-0.2884722948074341, -0.049999989569187164, -0.369474858045578, 0.3400000035762787, -2.9219772815704346, -2.2301242351531982, 0.5924192070960999, 0.00019171833992004395, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.38999998569488525, 2.5310473442077637, 1.8255172967910767, 0.9318774342536926, 0.5341827273368835, 0.1304226666688919, 0.9935035109519958, 0.7088863849639893, 1.0], "count": [1158]}, "action_is_hold": {"mean": [0.02936096718480138, 0.02936096718480138, 0.02936096718480138, 0.02936096718480138, 0.04404145077720207, 0.04404145077720207, 0.04404145077720207, 0.04404145077720207, 0.04404145077720207, 0.04404145077720207, 0.04404145077720207, 0.9913644214162349], "std": [0.16881617455319517, 0.16881617455319517, 0.16881617455319517, 0.16881617455319517, 0.20518723496027574, 0.20518723496027574, 0.20518723496027574, 0.20518723496027574, 0.20518723496027574, 0.20518723496027574, 0.20518723496027574, 0.09252570111211796], "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": [1158]}, "observation.state": {"mean": [-0.052959226954298895, 0.048764115173961974, -0.07545752720418748, 0.10696901419484105, -0.02136858219138749, 0.5927525498294666, 0.5958922929251133, 0.7189990356950562, 0.7095378974198472, 1.7675987996791516, -1.2837181595734777, -1.2764197497376095, -1.2711426519976996, -1.2970256538794653, -1.5234625216489834, 0.11900326979935706, 0.5374335655518316, 0.0720230171158859, 0.01764196321321571, -0.01738286816590628, 0.5308893850955482, -0.9223665155539537, 0.4524777073462193, 0.3998482546709568, -0.01738286816590628, -0.01764196321321571], "std": [0.031929035087729735, 0.0294626792532301, 0.03982402832200338, 0.03805203457935695, 0.056326239721793514, 0.08745462607358415, 0.12422754401534587, 0.11460213481982594, 0.08395767240415894, 0.40281670701030725, 0.13123803629070427, 0.13696945456775664, 0.15658909305419225, 0.14728333915676153, 0.4678203209014258, 0.2967453139401734, 0.280094081214069, 0.38133844002180645, 0.01287471490648711, 0.013066175328588354, 1.4698498208076463, 1.1182909151502098, 0.631028463697935, 0.018799529545430047, 0.013066175328588354, 0.01287471490648711], "min": [-0.20427681505680084, -0.07944905012845993, -0.15506841242313385, -0.03071984462440014, -0.1584373414516449, 0.3276784420013428, 0.3374330699443817, 0.4936545789241791, 0.3967084586620331, 1.3934398889541626, -1.513573408126831, -1.5557990074157715, -1.5576738119125366, -1.6405912637710571, -2.8069040775299072, -0.041454214602708817, -0.5666232705116272, -0.39718562364578247, 0.006573467515408993, -0.03500000014901161, -3.2808101177215576, -2.1375677585601807, -0.2620626389980316, 0.35004496574401855, -0.03500000014901161, -0.03500000014901161], "max": [0.06837388873100281, 0.1773902177810669, 0.12800092995166779, 0.21856451034545898, 0.06714355945587158, 0.7554413080215454, 0.7912135720252991, 1.0428879261016846, 1.0069701671600342, 2.6531729698181152, -1.109417200088501, -1.0829752683639526, -1.0503499507904053, -1.0142818689346313, -0.9350057244300842, 1.7413133382797241, 0.7813786864280701, 1.563999056816101, 0.03500000014901161, -0.007407477591186762, 2.189941644668579, 1.1867585182189941, 1.7147279977798462, 0.41746237874031067, -0.007407477591186762, -0.006573467515408993], "count": [1158]}, "observation.joint_vel": {"mean": [0.0005480251624632198, 0.0029900314126965004, -0.002475506462809749, -0.004129211939724033, 0.0011247045005460213, 0.0014362240357001575, -0.0034238838342356514, -0.012011785565840084, -0.00033507130294957796, 0.014832968029426512, 0.0026561549059905525, 0.011187891015221585, 0.011275211925136705, -0.010894199592551532, -0.020629378137763586, -0.00030132467757709063, -0.021702105538005587, 0.028232994987801577, -0.0013437722634033345, -0.00013652092957596522], "std": [0.5477637954459859, 0.47622503003653444, 0.6649980850769182, 0.5986610695558356, 0.04056536348189374, 1.0285200891254145, 1.2153692857050762, 0.951536623123791, 0.7053557442915959, 0.24092353370286357, 0.8817280389286734, 1.2058311044121133, 1.2070736468509917, 1.4991574032875885, 0.3060042240952967, 0.3472382740722411, 0.12693670805575788, 0.3333899833137097, 0.010807502804725299, 0.010676503750492164], "min": [-1.5105212926864624, -1.730899691581726, -3.6566262245178223, -2.083610773086548, -0.25265759229660034, -4.16804313659668, -4.489250183105469, -3.3685877323150635, -3.6332805156707764, -1.1725027561187744, -3.384500741958618, -4.684486389160156, -3.6888506412506104, -5.939513206481934, -1.30855393409729, -2.9999992847442627, -1.4216680526733398, -3.000000238418579, -0.2003166675567627, -0.02756156399846077], "max": [3.6241438388824463, 2.137993335723877, 3.7815909385681152, 1.878393530845642, 0.25948387384414673, 4.003742694854736, 5.215693473815918, 6.4251389503479, 6.129709720611572, 1.237851619720459, 3.533405303955078, 4.4502363204956055, 3.655344009399414, 4.521876335144043, 2.442699670791626, 2.9903109073638916, 0.5838389992713928, 2.989680767059326, 0.0056259180419147015, 0.20009328424930573], "count": [1158]}, "observation.eef_pose": {"mean": [0.8607649470732542, -0.7804977804300133, 0.8161372745695922, 0.31777514205901325, -0.10822149076710563, 0.8516604863814945, 0.14570507227036208], "std": [1.376299600316234, 1.3069032119550972, 0.11013025374406166, 0.18773880805846047, 0.20018803490018147, 0.11874268398956989, 0.2265629615122715], "min": [-2.9219772815704346, -2.230133056640625, 0.602282702922821, 0.0010535717010498047, -0.6514225006103516, 0.5772182941436768, -0.017299950122833252], "max": [2.531332492828369, 1.8367815017700195, 0.9321602582931519, 0.5332669615745544, 0.1304369866847992, 0.9935134649276733, 0.7089259028434753], "count": [1158]}, "observation.environment_state": {"mean": [1.4573560900638758, -0.7243735261023405, 0.7397830000916087, 0.9175224789580739, 0.07605396581921182, 0.04338100029704689, 0.15907343650886258, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2099771783759556, 2.0027401784952854, 0.5300000788634305, 0.9999999998970559, 7.124443811383993e-07, -3.1696697681824304e-07, -4.317850160167851e-08, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "std": [0.5852359639240278, 1.303997615967022, 0.12116877344361006, 0.1412193131227186, 0.18421267718692802, 0.1052153412620663, 0.24542728709440947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.7298976862356226e-07, 5.731771748986774e-07, 1.3510550126057719e-06, 2.4749444721423118e-09, 1.206302302988067e-05, 1.0030933536892516e-05, 2.01933573301417e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [0.5478564500808716, -1.8031741380691528, 0.6009998321533203, 0.6030388474464417, -0.0007264956366270781, -0.03927924856543541, -5.024834948130774e-08, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2099640369415283, 2.0027315616607666, 0.5299997329711914, 0.9999999403953552, -0.00027042278088629246, -0.0002844999835360795, -3.247870336053893e-05, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "max": [2.588545799255371, 1.9240528345108032, 0.9229937791824341, 1.0, 0.6217867136001587, 0.35757842659950256, 0.7558081746101379, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.209977626800537, 2.0027503967285156, 0.5300244092941284, 1.0, 0.00022065007942728698, 0.00011865991837112233, 4.8733640142017975e-05, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "count": [1158]}, "action.command": {"mean": [-0.7293804480100531, -1.393145992819096, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 1.1978319783197833, 0.8351758679184917, -0.7849816108541436, 0.8202421300133392, 0.31985366723845443, -0.11071096584873638, 0.8518472932003163, 0.14262623872851715, 0.5, -0.7195318348604712, -1.369951775387095, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.6763555742294955, -1.3420827856193194, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.6490121264052009, -1.3280527166902798, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.6144077821592221, -1.3082470282011938, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.5777682652088335, -1.2861598991730356, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.5480391061996855, -1.268916595318388, 0.6899020229219361, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5692069535631727, -0.9725522034963462, 0.8432469426777154, 0.33068756038913305, -0.13539567877869804, 0.8692101104191875, 0.08267102770083302, 0.0, -0.5327515270974901, -1.2179364464329965, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.5105244511165669, -1.1942637154124967, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.45165202907197544, -1.1739915892245965, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.4367833229922509, -1.1571472438211128, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.37629911996597465, -1.1306278196762698, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.36458564590114034, -1.1117228266881727, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.32493180614109185, -1.0896959223758034, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.2938148861399609, -1.062226259739208, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.26264165492020836, -1.0472926990314355, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.21871174536934196, -1.0293228554633236, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.21059172544676513, -1.005825470237769, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.1483496011304609, -0.9843961159465233, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.1296919071397116, -0.9618479832044251, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.07555088123609853, -0.9291832506348613, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.04878573527785851, -0.9178758942033586, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, -0.002711825900607639, -0.9078681732332984, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, 0.03211983399181711, -0.8739039333445773, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, 0.07375985403239572, -0.8442907329523595, 0.7228818353871966, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5580227459739961, -0.934436153822629, 0.8398009569453947, 0.3226918058917504, -0.1411543359968857, 0.869337025076844, 0.08534943269833728, 0.0, 0.12238442322175451, -0.8987557762694136, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.15788912531742796, -0.89458143051911, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.22313042945950945, -0.8670454492264448, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.24904724129263858, -0.8467318319085974, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.3080193480227224, -0.8367412472811072, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.3389570514361064, -0.8278795755540842, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.3821691493750361, -0.8069837056216421, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.4297084475974799, -0.7903132038510106, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.48220702755116973, -0.7748098652867884, 0.8587998848095119, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5548315177732539, -0.8715869554803007, 0.8234128754272639, 0.2881480631102283, -0.16919650901322952, 0.8690048860055264, 0.09792563056809367, 0.0, 0.06278569320640942, -1.3274883393013832, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, 0.14314309016312704, -1.320205050293762, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, 0.17655259854722732, -1.3167013001914072, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, 0.1986540900598658, -1.3144030867236676, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, 0.2903961651396043, -1.3059075291794124, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, 0.2918917419886825, -1.2954590291079908, 0.6656444025511788, 0.0, 0.0, 0.0, 0.0, 2.0, 0.11851730246355038, -1.307243950827287, 0.7962242105219624, 0.2728144490187711, -0.052667540462807486, 0.9337804833261093, 0.02872859862031378, 0.0, -1.0089584589004517, -1.9303174018859863, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.9848591685295105, -1.9282102584838867, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.8946571350097656, -1.9203234910964966, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.8583965301513672, -1.9171531200408936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.7803559303283691, -1.9103296995162964, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.7319339513778687, -1.9060959815979004, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.6660546660423279, -1.9003359079360962, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.6054713726043701, -1.8950388431549072, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.5517534017562866, -1.890342116355896, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.47900885343551636, -1.8839818239212036, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.4374520480632782, -1.8803483247756958, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.3525462746620178, -1.8729246854782104, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.3231508135795593, -1.8703545331954956, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.2260836511850357, -1.8618675470352173, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.20884950459003448, -1.8603607416152954, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.0996209904551506, -1.8508104085922241, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.09454816579818726, -1.8503668308258057, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, -0.04687008261680603, -1.8461982011795044, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.019720828160643578, -1.8403759002685547, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.026826653629541397, -1.839754581451416, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.13531208038330078, -1.83026921749115, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.15554875135421753, -1.8284997940063477, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.2568734288215637, -1.8196406364440918, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.2939077913761139, -1.816402554512024, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.39161217212677, -1.8078598976135254, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.45097365975379944, -1.8026697635650635, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -1.0420161247048592, -1.9416441577406682, 0.7027884854893505, 0.1183430530463707, -0.030104143579836127, 0.9918176503115913, 0.0022250272218006764, 0.0], "std": [2.0296753762140702, 0.7165781357744265, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 1.3277915988716926, 1.3975161329373549, 1.2889810392587784, 0.10922418173498893, 0.18638807591431683, 0.20251704435331636, 0.11916996994585724, 0.2224760455100929, 0.5, 2.021173010499254, 0.7276672871550939, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.9909472202384335, 0.7414018893079323, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.9747684299322048, 0.7431265457631827, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.948782914870281, 0.7436096358314012, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.9307100652931384, 0.7607946531281057, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.9108220265274618, 0.775966237770123, 0.7697702047955166, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5131704071502017, 1.0101957789621996, 0.10525271384873898, 0.16719770930350655, 0.22258336519069966, 0.12494324413801262, 0.12978410679318936, 0.0, 1.9294321760549715, 0.7893780347967457, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.9130302039129548, 0.795722019611052, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.891073846774601, 0.810251100040916, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.8787740182524846, 0.8224690533592354, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.8506521561915483, 0.8325072085723377, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.845002453367494, 0.8470754732630879, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.796664667800303, 0.8550020262727166, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.8118612870416473, 0.8674215711156743, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.7838320207392377, 0.8828301789979421, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.7814607835904024, 0.9035464880825334, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.7849205127181378, 0.9130579948937508, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.7506676540370627, 0.9184595663312206, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.7526569003660624, 0.9416506254843483, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.722736891335163, 0.9668999665639522, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.722115513530301, 0.9713736281081365, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.6948346879769722, 0.9726700815316568, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.6933848923850845, 1.0021269970234554, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.6700331049899448, 1.0310765323064817, 0.7726781420764487, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5479472631363436, 1.0185391455813033, 0.10649944409342278, 0.16700129948276043, 0.22622708484835663, 0.12789230307121535, 0.13224830749925745, 0.0, 1.8297429527013847, 1.1228339765880584, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.8057287698565314, 1.1221995276459267, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.8012387933094456, 1.1543658367895502, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.7803619876892718, 1.1813405843618507, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.7609064707662254, 1.1861961950595927, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.7543726231050736, 1.1947428885720768, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.7121708389085528, 1.2191048209827235, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.7300582243313343, 1.2385620984148518, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.68473378979284, 1.2525112361092663, 0.7819606766974635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6994924132027074, 1.0961761366780347, 0.10998120515393071, 0.16316741862609407, 0.23892773098765213, 0.14042008676112508, 0.1419738207453644, 0.0, 1.6494748225252729, 0.7379125497092742, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 1.61031032943972, 0.7347883648512799, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 1.64900968728712, 0.7388514648912639, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 1.672337256255618, 0.7413176359582409, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 1.6484788110502815, 0.7397846071181655, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 1.6363018226406605, 0.7507515281799968, 0.7762147518100259, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6670756374635514, 0.7514249512413861, 0.10913345946591359, 0.18087847073987995, 0.09404146619344732, 0.07282338413515667, 0.05624170970926725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1417269630756237, 0.11844958291906114, 0.007522878394859496, 0.004614765614092964, 0.03652618789772697, 0.0017615939933888583, 0.004780241759783575, 0.0], "min": [-3.2808101177215576, -2.1289544105529785, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -2.9219772815704346, -2.2301242351531982, 0.5924192070960999, 0.00021086260676383972, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -3.2596259117126465, -2.1271021366119385, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -3.179272174835205, -2.1200764179229736, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -3.1331634521484375, -2.1160449981689453, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -3.0649712085723877, -2.1100826263427734, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -3.0067009925842285, -2.104987859725952, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.950669765472412, -2.1000888347625732, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.8802380561828613, -2.093930721282959, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.8363680839538574, -2.090095043182373, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.7537753582000732, -2.082873582839966, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.722066640853882, -2.080101251602173, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.627312660217285, -2.0718164443969727, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.6077654361724854, -2.0701074600219727, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.500850200653076, -2.0607593059539795, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.493464231491089, -2.0601134300231934, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.4240469932556152, -2.054044008255005, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.379216194152832, -2.050124168395996, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.374452590942383, -2.0497076511383057, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.2650504112243652, -2.040142297744751, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.2481555938720703, -2.0386650562286377, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.1508848667144775, -2.0301601886749268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.121858835220337, -2.0276222229003906, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -2.0367190837860107, -2.0201780796051025, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.995562195777893, -2.0165796279907227, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.9225534200668335, -2.0101962089538574, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.8692654371261597, -2.0055370330810547, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.8083876371383667, -2.0002143383026123, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.7429686784744263, -1.9944945573806763, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.6942218542099, -1.9902324676513672, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.6166718006134033, -1.9834519624710083, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.580056071281433, -1.9802504777908325, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.49037504196167, -1.9724093675613403, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.4658902883529663, -1.9702686071395874, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.3640782833099365, -1.9613667726516724, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.651150107383728, 0.5776358842849731, -0.017216308042407036, 0.0, -1.3517245054244995, -1.9602866172790527, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.2377815246582031, -1.9503241777420044, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.2375587224960327, -1.9503047466278076, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.2354618310928345, -1.9501214027404785, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.1232599020004272, -1.9403111934661865, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.1113219261169434, -1.9392673969268799, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.5669447183609009, 0.6573696732521057, -0.017216308042407036, 0.0, -1.0089584589004517, -1.9303174018859863, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.9848591685295105, -1.9282102584838867, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.8946571350097656, -1.9203234910964966, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.8583965301513672, -1.9171531200408936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.7803559303283691, -1.9103296995162964, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.7319339513778687, -1.9060959815979004, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.6660546660423279, -1.9003359079360962, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.6054713726043701, -1.8950388431549072, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.5517534017562866, -1.890342116355896, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.47900885343551636, -1.8839818239212036, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.4374520480632782, -1.8803483247756958, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.3525462746620178, -1.8729246854782104, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.3231508135795593, -1.8703545331954956, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.2260836511850357, -1.8618675470352173, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.20884950459003448, -1.8603607416152954, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.0996209904551506, -1.8508104085922241, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.09454816579818726, -1.8503668308258057, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, -0.04687008261680603, -1.8461982011795044, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.019720828160643578, -1.8403759002685547, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.026826653629541397, -1.839754581451416, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.13531208038330078, -1.83026921749115, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.15554875135421753, -1.8284997940063477, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.2568734288215637, -1.8196406364440918, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.2939077913761139, -1.816402554512024, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.39161217212677, -1.8078598976135254, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.45097365975379944, -1.8026697635650635, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9219772815704346, -2.2301242351531982, 0.6517700552940369, 0.11175350099802017, -0.050598546862602234, 0.9826709032058716, -0.017216308042407036, 0.0], "max": [2.1280677318573, -0.46508505940437317, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.8255172967910767, 0.9318774342536926, 0.5341827273368835, 0.1304226666688919, 0.9935035109519958, 0.7088863849639893, 1.0, 2.131270170211792, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.134850025177002, -0.30876660346984863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1357791423797607, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.136857271194458, -0.26250430941581726, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1402881145477295, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.143244743347168, -0.11528333276510239, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.504846453666687, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1447970867156982, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1465983390808105, -0.037991903722286224, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.149306058883667, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.151639699935913, 0.07819991558790207, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1538150310516357, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.156339406967163, 0.18652066588401794, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1583240032196045, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.160034418106079, 0.27168285846710205, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1628329753875732, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1660804748535156, 0.4110329747200012, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.167341947555542, 0.44010868668556213, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.168429136276245, 0.4651659429073334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1718509197235107, 0.5440317988395691, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.175821542739868, 0.6355449557304382, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1763598918914795, 0.6479547619819641, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.176823854446411, 0.6586494445800781, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1808688640594482, 0.7518778443336487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1852149963378906, 0.8520476222038269, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.5027582049369812, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.185377836227417, 0.8558010458946228, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.18556809425354, 0.8601865172386169, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1898999214172363, 0.9600276350975037, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.193572521209717, 1.0446730852127075, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.194474697113037, 1.065468192100525, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.195680856704712, 1.0932691097259521, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.1991682052612305, 1.1736406087875366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.2015938758850098, 1.2295476198196411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 2.200000047683716, 1.2799999713897705, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, 1.562934160232544, 0.9318774342536926, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.3778655529022217, 0.0, 1.986255168914795, -0.46700096130371094, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, 2.020942449569702, -0.46336081624031067, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, 2.0994796752929688, -0.4551190435886383, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, 2.1487836837768555, -0.44994500279426575, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, 2.2127041816711426, -0.4432371258735657, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, 2.200000047683716, -0.41999998688697815, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5310473442077637, -0.06099995970726013, 0.9310407638549805, 0.4986603856086731, 0.1304226666688919, 0.9935035109519958, 0.33395153284072876, 0.0, -1.0089584589004517, -1.9303174018859863, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.9848591685295105, -1.9282102584838867, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.8946571350097656, -1.9203234910964966, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.8583965301513672, -1.9171531200408936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.7803559303283691, -1.9103296995162964, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.7319339513778687, -1.9060959815979004, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.6660546660423279, -1.9003359079360962, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.6054713726043701, -1.8950388431549072, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.5517534017562866, -1.890342116355896, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.47900885343551636, -1.8839818239212036, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.4374520480632782, -1.8803483247756958, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.3525462746620178, -1.8729246854782104, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.3231508135795593, -1.8703545331954956, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.2260836511850357, -1.8618675470352173, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.20884950459003448, -1.8603607416152954, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.0996209904551506, -1.8508104085922241, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.09454816579818726, -1.8503668308258057, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, -0.04687008261680603, -1.8461982011795044, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.019720828160643578, -1.8403759002685547, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.026826653629541397, -1.839754581451416, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.13531208038330078, -1.83026921749115, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.15554875135421753, -1.8284997940063477, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.2568734288215637, -1.8196406364440918, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.2939077913761139, -1.816402554512024, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.39161217212677, -1.8078598976135254, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.45097365975379944, -1.8026697635650635, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8453981876373291, -1.7594013214111328, 0.7110092639923096, 0.13150140643119812, 0.1304226666688919, 0.9935035109519958, 0.009156223386526108, 0.0], "count": [1158]}, "action.applied": {"mean": [0.25172624779810454, 0.610550140469803, -1.0541200534873265, -0.2261920375990744, 0.6454445132165375, -1.0617416067650487, 0.1841141543896396, 0.7046317659923244, -1.1609068339455724, -0.1792874299890534, 0.6454953676884244, -1.1601575485885864, -0.021188622195411518, 1.7694874278210193, -1.5260147517723948, 0.11677062642525997, 0.5348959836442528, 0.07852541399661504, 0.003596718495451107, -0.003596718495451107], "std": [0.13347910488393952, 0.11324028316622042, 0.17605630270113712, 0.14655896754628647, 0.13591882514413067, 0.16982082535146753, 0.1282974112806597, 0.1209642031206515, 0.21078064333000193, 0.14093517185387444, 0.07649396428357215, 0.19214765171471399, 0.05664959799984175, 0.4053612506220518, 0.4691259036964564, 0.29558710767648305, 0.2837834515373871, 0.39526110276694476, 0.01062773559801039, 0.01062773559801039], "min": [-0.09812852740287781, 0.28754228353500366, -1.475619912147522, -0.567850649356842, 0.38296422362327576, -1.4484301805496216, -0.09804403781890869, 0.41001635789871216, -1.5642143487930298, -0.5883021950721741, 0.36749500036239624, -1.4438667297363281, -0.15847209095954895, 1.3858270645141602, -2.819570302963257, -0.056861016899347305, -0.567712664604187, -0.3973238170146942, 0.0, -0.03500000014901161], "max": [0.5021921992301941, 0.8228756785392761, -0.7399419546127319, 0.17335134744644165, 0.8385049104690552, -0.7845194935798645, 0.4930655062198639, 1.0121545791625977, -0.7418281435966492, 0.2555704712867737, 1.1032094955444336, -0.8346685767173767, 0.0777677670121193, 2.660529136657715, -0.9293409585952759, 1.7420274019241333, 0.8107524514198303, 1.565718412399292, 0.03500000014901161, 0.0], "count": [1158]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1158]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1158]}, "sim_step_idx": {"mean": [1218.0], "std": [668.5713624338591], "min": [61.0], "max": [2375.0], "count": [1158]}, "timestamp": {"mean": [23.140000002358963], "std": [13.371427249119074], "min": [0.0], "max": [46.279998779296875], "count": [1158]}, "frame_index": {"mean": [578.5], "std": [334.28568121692956], "min": [0.0], "max": [1157.0], "count": [1158]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1158]}, "index": {"mean": [578.5], "std": [334.28568121692956], "min": [0.0], "max": [1157.0], "count": [1158]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1158]}, "next.done": {"mean": [0.0008635578583765112], "std": [0.029373663819853107], "min": [0.0], "max": [1.0], "count": [1158]}, "observation.images.head": {"mean": [[[0.4893076566375178]], [[0.43663459649025976]], [[0.37698316638058477]]], "std": [[[0.08954717822957337]], [[0.07790309031054567]], [[0.0679479186643645]]], "min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.7725490196078432]], [[0.7411764705882353]], [[0.7411764705882353]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5414511505401015]], [[0.49991849404768135]], [[0.47149357447964313]]], "std": [[[0.156847090482975]], [[0.14308151954665496]], [[0.1358489083599975]]], "min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[0.9254901960784314]], [[0.9058823529411765]], [[0.8901960784313725]]], "count": [100]}}}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,340 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationHammer",
+ "subsample_every": 2,
+ "control_steps": 2316,
+ "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": [
+      4.241080117817456,
+      1.4756324077397878,
+      -0.15903122149740317
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -3.3306690738754696e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_b_1",
+     "cat_name": "table_b",
+     "inst_id": 1,
+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.22318908046334,
+      5.40455315072948,
+      -0.21614256964920875
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       1.1102230246251565e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "hammer_rack_1",
+     "cat_name": "hammer_rack",
+     "inst_id": 1,
+     "noun": "hammer rack",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.245051167735763,
+      1.4792836798814653,
+      0.09091056967464897
+     ],
+     "bbox": {
+      "extent": [
+       0.30000001192092896,
+       0.14000000059604645,
+       0.06299999957531688
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.03149999989941715
+      ]
+     }
+    },
+    {
+     "id": "hammer_1",
+     "cat_name": "hammer",
+     "inst_id": 1,
+     "noun": "hammer",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.246178923542183,
+      1.4803204359950388,
+      0.16189387383445264
+     ],
+     "bbox": {
+      "extent": [
+       0.24200014868901337,
+       0.070000286169656,
+       0.02800140037424348
+      ],
+      "center": [
+       0.007000009682637309,
+       -9.611268243087112e-09,
+       -2.954241082875342e-07
+      ]
+     }
+    },
+    {
+     "id": "strike_block_1",
+     "cat_name": "strike_block",
+     "inst_id": 1,
+     "noun": "strike block",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.236086518828787,
+      5.413431773365289,
+      0.03358100765132785
+     ],
+     "bbox": {
+      "extent": [
+       0.07000009889004172,
+       0.07000014123842954,
+       0.040000389045041995
+      ],
+      "center": [
+       2.8102520310824275e-16,
+       -8.326672684688674e-17,
+       0.020000000000000018
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "hammer_1",
+     "relation": "on_top_of",
+     "object": "hammer_rack_1"
+    },
+    {
+     "subject": "strike_block_1",
+     "relation": "on_top_of",
+     "object": "table_b_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": [
+      2.9240726576498504,
+      3.0237023367045035,
+      -0.34720612729600564
+     ],
+     "viewpoint": "front-left, 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": [
+      2.538678295418632,
+      2.886107289564341,
+      -0.3868220794613919
+     ],
+     "viewpoint": "front-left, 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": [
+       -3.272339599478611,
+       -2.124631173256008,
+       0.42000000000000004
+      ],
+      "ori": [
+       0.9929640889167786,
+       0.0,
+       0.0,
+       -0.1184157207608223
+      ]
+     },
+     "facing_yaw_deg": -13.601356039951408,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[strike block]    [ham[hammer]]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationHammer",
+   "instruction": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the object.",
+   "task_id": "N010",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,301 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1158,
+    "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": [
+                35
+            ],
+            "names": [
+                "object_pose.hammer.0",
+                "object_pose.hammer.1",
+                "object_pose.hammer.2",
+                "object_pose.hammer.3",
+                "object_pose.hammer.4",
+                "object_pose.hammer.5",
+                "object_pose.hammer.6",
+                "object_pose.hammer_rack.0",
+                "object_pose.hammer_rack.1",
+                "object_pose.hammer_rack.2",
+                "object_pose.hammer_rack.3",
+                "object_pose.hammer_rack.4",
+                "object_pose.hammer_rack.5",
+                "object_pose.hammer_rack.6",
+                "object_pose.strike_block.0",
+                "object_pose.strike_block.1",
+                "object_pose.strike_block.2",
+                "object_pose.strike_block.3",
+                "object_pose.strike_block.4",
+                "object_pose.strike_block.5",
+                "object_pose.strike_block.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1088
+            ],
+            "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
+            }
+        }
+    }
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 14:24:18"
+    },
+    "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": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/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 sha256:71c7406249abfe78a7a2d46795cf58e66266c624378f328557a0426639b7aa49
+size 16023345

N010/go2_arm/dr_on/seed_8045/record/stationhammer/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 sha256:060ac699b526de845cc25be0ee5d352e869f1bd6fc5ac574823ded70e3fa263e
+size 17640363

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/run_meta.json

@@ -0,0 +1,759 @@
+{
+    "run_id": "stationhammer/000",
+    "created": "2026-11-08 14:09:34",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n010_go2_on_8045/out/record",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 20
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                },
+                "contact_reports": true,
+                "physx": {
+                    "gpu_dynamics": false
+                },
+                "seed": 8045
+            },
+            "robot": {
+                "Go2Plus": {
+                    "name": "go2plus",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.5,
+                                -2.3,
+                                0.42000000000000004
+                            ],
+                            [
+                                -2.9000000000000004,
+                                -1.7,
+                                0.42000000000000004
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                -20.0
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                20.0
+                            ]
+                        ],
+                        "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": 20.0,
+                            "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": 4,
+                            "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": 0.1,
+                                "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": 0.39,
+                                "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": 3.0,
+                                "kd_linear_x": 0.4,
+                                "kp_linear_y": 3.0,
+                                "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": 0.01,
+                                "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"
+                        }
+                    }
+                }
+            },
+            "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
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                -1.8,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.9,
+                                0.5
+                            ]
+                        },
+                        "table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.2,
+                                2.0,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.5
+                            ]
+                        },
+                        "table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer_rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_rack_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "strike_block": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    2.1900000000000004,
+                                    1.99,
+                                    0.531
+                                ],
+                                [
+                                    2.21,
+                                    2.01,
+                                    0.531
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "strike_block_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                },
+                                "track_contact_forces": true,
+                                "prepare_contact_sensor": true,
+                                "contact_filter_prim_paths_expr": [
+                                    "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                ]
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 12000,
+                "success_hold_frames": 3,
+                "fall_height": 0.08,
+                "fall_tilt": 1.0
+            },
+            "station": {
+                "level": "easy",
+                "agent_id": "a02",
+                "embodiment": "go2_arm",
+                "task_version": "EXT60-MobileAvatar-v3",
+                "execution_mode": "expert_collect",
+                "layout": {
+                    "table_h": 0.5,
+                    "standoff": 0.306,
+                    "standoff_b": 0.42
+                },
+                "settle_ticks": 40,
+                "hold_ticks": 5,
+                "judge_timeout_ticks": 300,
+                "default_avoid": [],
+                "report_jsonl": "/mnt/scratch/sz850_atomic/n010_go2_on_8045/out/reports.jsonl",
+                "carried": {
+                    "type": "rigid",
+                    "name": "hammer",
+                    "id": 0
+                },
+                "tracked": [
+                    {
+                        "type": "rigid",
+                        "name": "strike_block",
+                        "id": 0
+                    }
+                ],
+                "planner_seeds": "lean",
+                "cloth_variant": null,
+                "record_scene_streams": true
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": true,
+                        "pre_strike_linear": true,
+                        "pre_clear": 0.06,
+                        "lift": 0.08
+                    }
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.12,
+                    "rotation_threshold": 0.12,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.012,
+                    "rotation_threshold": 0.25,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 60,
+                    "debug": false,
+                    "debug_viz": false,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "interp_validate_target": true
+                },
+                "RetractMoveL": {
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.3,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 2000,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "base_waypoint_max_steps": 20,
+                    "arm_waypoint_max_steps": 8,
+                    "move_strategy_distance_threshold": 0.1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "StationNav": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "obstacle_avoid_paths": [],
+                    "obstacle_ignore_paths": [],
+                    "close_value": 1.0,
+                    "open_value": 0.0,
+                    "hold_steps": 10
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.1,
+                    "retrieval_offset": 0.1,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "reactive": false,
+                    "viz_grasp": false
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": null
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n010_go2_on_8045/out/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": true,
+                        "pre_strike_linear": true,
+                        "pre_clear": 0.06,
+                        "lift": 0.08
+                    }
+                }
+            }
+        },
+        "env_string": "HammerEnv-V0"
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf066974bab479f22afc3e64b46243e1025d527093ad658bc2ff2d0ecd5a6fe
+size 565060

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,387 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationhammer/000",
+    "task_type": "StationHammer",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.9,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.2,
+                                    2.0,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer_rack": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/hammer_rack/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/hammer/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.1999999284744263,
+                                    -1.8000001907348633,
+                                    0.6009998321533203
+                                ],
+                                "ori": [
+                                    1.0,
+                                    2.322584350622492e-06,
+                                    1.3774904346064432e-06,
+                                    -4.6036049639042176e-08
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -1.697706466075033e-05,
+                                    5.598969801212661e-05,
+                                    0.00013685508747585118
+                                ],
+                                "angular_velocity": [
+                                    -0.0073240683414042,
+                                    -0.0018615962471812963,
+                                    -9.041222801897675e-05
+                                ]
+                            }
+                        }
+                    ],
+                    "strike_block": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/strike_block/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    2.209977149963379,
+                                    2.0027401447296143,
+                                    0.5300000309944153
+                                ],
+                                "ori": [
+                                    1.0,
+                                    1.2023769535574047e-08,
+                                    -9.383780934513197e-07,
+                                    1.8549778602050537e-08
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "track_contact_forces": true,
+                                    "prepare_contact_sensor": true,
+                                    "contact_filter_prim_paths_expr": [
+                                        "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                    ],
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    8.79176368471235e-05,
+                                    6.88370200805366e-05,
+                                    0.0001606181904207915
+                                ],
+                                "angular_velocity": [
+                                    -0.0022449397947639227,
+                                    0.002932711271569133,
+                                    -1.5077873285918031e-05
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "Go2Plus": {
+                "root_pose": [
+                    [
+                        -3.2808101177215576,
+                        -2.1289544105529785,
+                        0.35004496574401855,
+                        0.9913974404335022,
+                        0.006180962081998587,
+                        -0.008873000741004944,
+                        -0.1304381936788559
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.007244338281452656,
+                        -0.002158638322725892,
+                        -0.0013029210967943072,
+                        0.00604505930095911,
+                        0.012226535007357597,
+                        -0.004985980689525604
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.06821881234645844,
+                        -0.05649164691567421,
+                        -0.02809162624180317,
+                        0.06944077461957932,
+                        -9.329314343631268e-05,
+                        0.6025768518447876,
+                        0.7673957943916321,
+                        1.0428879261016846,
+                        1.0069701671600342,
+                        1.705574631690979,
+                        -1.491430401802063,
+                        -1.5557990074157715,
+                        -1.5576738119125366,
+                        -1.6405912637710571,
+                        -0.996252715587616,
+                        -1.0256172572553623e-05,
+                        0.7005653381347656,
+                        4.966792403138243e-06,
+                        0.034999921917915344,
+                        -0.034995805472135544
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0012089083902537823,
+                        0.0002786410041153431,
+                        -0.005701663438230753,
+                        -0.007751269266009331,
+                        0.0002564473543316126,
+                        0.026607591658830643,
+                        0.023111393675208092,
+                        -0.003737294115126133,
+                        -0.0021141229663044214,
+                        -0.03744389861822128,
+                        -0.02931111492216587,
+                        -0.029532795771956444,
+                        0.024111859500408173,
+                        0.017366141080856323,
+                        -0.0213656947016716,
+                        7.32877233531326e-05,
+                        0.0006781225092709064,
+                        -0.00017738307360559702,
+                        -3.7946483644191176e-07,
+                        -9.773284546099603e-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
+                    ]
+                ]
+            }
+        }
+    }
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c35f7a9a41cd5c66a511e92846c6a978da93a58f9b97186257761e558b8c9aa
+size 570757

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 14:24:37"
+    },
+    "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": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_on/seed_8045/record/stationhammer/000/visual_dr.json

@@ -0,0 +1,667 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [],
+  "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": 8045,
+   "seeds": {
+    "0": 8045
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 14730.771291,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6833.381604,
+     "rotate_deg": [
+      4.153,
+      0.994,
+      3.606
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 606.325039,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6729.350284,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      243.236
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.778005,
+       0.841755,
+       0.82501
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8441,
+      0.6299,
+      0.8186
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.555818,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched",
+     "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_Mediterranean.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Mediterranean",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Basaltite.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Basaltite",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Formed.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed",
+     "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": {},
+   "physics_skip": {
+    "physics_binding": 8,
+    "rigid_body": 222,
+    "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/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/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": 8045,
+   "seeds": {
+    "0": 8045
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 14730.771291,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6833.381604,
+     "rotate_deg": [
+      4.153,
+      0.994,
+      3.606
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 606.325039,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6729.350284,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      243.236
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.778005,
+       0.841755,
+       0.82501
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8441,
+      0.6299,
+      0.8186
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.555818,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched",
+     "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_Mediterranean.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Mediterranean",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Basaltite.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Basaltite",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Formed.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed",
+     "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": {},
+   "physics_skip": {
+    "physics_binding": 8,
+    "rigid_body": 222,
+    "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/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/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
+    }
+   ]
+  }
+ ]
+}

N010/go2_arm/dr_on/seed_8045/report.json

@@ -0,0 +1,2761 @@
+{
+ "task": "n010",
+ "robot": "go2_arm",
+ "level": "easy",
+ "dr": "on",
+ "seed": 8045,
+ "steps": 2376,
+ "summary": {
+  "episodes": 1,
+  "full_success": 1,
+  "fail_classes": {},
+  "wall_s": 878.7
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
+  "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+  "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+  "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+ ],
+ "episodes": [
+  {
+   "spawn_pose": [
+    -3.2733006477355957,
+    -2.1244001388549805,
+    -0.2371934959196252
+   ],
+   "base_path": [
+    [
+     1,
+     -3.2733006477355957,
+     -2.1244001388549805,
+     -0.2371934959196252
+    ],
+    [
+     10,
+     -3.2805252075195312,
+     -2.12440824508667,
+     -0.2281294987902761
+    ],
+    [
+     20,
+     -3.2844364643096924,
+     -2.1261539459228516,
+     -0.2419109583058702
+    ],
+    [
+     30,
+     -3.284623861312866,
+     -2.126868963241577,
+     -0.25023403959500146
+    ],
+    [
+     40,
+     -3.283689022064209,
+     -2.1278469562530518,
+     -0.2559628891468603
+    ],
+    [
+     50,
+     -3.282273769378662,
+     -2.1285014152526855,
+     -0.259744239777414
+    ],
+    [
+     60,
+     -3.2808101177215576,
+     -2.1289544105529785,
+     -0.26175371811251064
+    ],
+    [
+     70,
+     -3.272559404373169,
+     -2.129807710647583,
+     -0.25531589441390995
+    ],
+    [
+     80,
+     -3.2368760108947754,
+     -2.12937068939209,
+     -0.21530081739178064
+    ],
+    [
+     90,
+     -3.1859564781188965,
+     -2.13381290435791,
+     -0.12946240653148539
+    ],
+    [
+     100,
+     -3.1265270709991455,
+     -2.136767864227295,
+     -0.04913784685290537
+    ],
+    [
+     110,
+     -3.060027599334717,
+     -2.1359522342681885,
+     0.021795367150658627
+    ],
+    [
+     120,
+     -2.9940097332000732,
+     -2.1252622604370117,
+     0.06496078818456778
+    ],
+    [
+     130,
+     -2.924839735031128,
+     -2.1141269207000732,
+     0.09569705631403526
+    ],
+    [
+     140,
+     -2.8566482067108154,
+     -2.101135492324829,
+     0.09912265460129145
+    ],
+    [
+     150,
+     -2.7897486686706543,
+     -2.08923077583313,
+     0.10070844036243734
+    ],
+    [
+     160,
+     -2.721140146255493,
+     -2.0795860290527344,
+     0.09403388879694924
+    ],
+    [
+     170,
+     -2.6537768840789795,
+     -2.0708870887756348,
+     0.09328094804610075
+    ],
+    [
+     180,
+     -2.5838429927825928,
+     -2.0642311573028564,
+     0.08600443869954003
+    ],
+    [
+     190,
+     -2.5175552368164062,
+     -2.057210683822632,
+     0.08492305373568186
+    ],
+    [
+     200,
+     -2.448110580444336,
+     -2.0524895191192627,
+     0.07935814489256393
+    ],
+    [
+     210,
+     -2.381484031677246,
+     -2.046367883682251,
+     0.0816276987509041
+    ],
+    [
+     220,
+     -2.3128457069396973,
+     -2.0411081314086914,
+     0.07917917118921806
+    ],
+    [
+     230,
+     -2.2458863258361816,
+     -2.034359931945801,
+     0.07977747293823817
+    ],
+    [
+     240,
+     -2.1763479709625244,
+     -2.02836275100708,
+     0.0789000047311171
+    ],
+    [
+     250,
+     -2.10772705078125,
+     -2.0217769145965576,
+     0.07884095690699394
+    ],
+    [
+     260,
+     -2.038193941116333,
+     -2.0160703659057617,
+     0.08360254234935166
+    ],
+    [
+     270,
+     -1.9695844650268555,
+     -2.0106985569000244,
+     0.07970870143659366
+    ],
+    [
+     280,
+     -1.9009991884231567,
+     -2.0055394172668457,
+     0.08500458220759766
+    ],
+    [
+     290,
+     -1.83225417137146,
+     -1.9993342161178589,
+     0.07930888061955309
+    ],
+    [
+     300,
+     -1.764086127281189,
+     -1.9929898977279663,
+     0.08333222944994806
+    ],
+    [
+     310,
+     -1.6960479021072388,
+     -1.9866760969161987,
+     0.07846903154179734
+    ],
+    [
+     320,
+     -1.6290122270584106,
+     -1.9797097444534302,
+     0.08081410200098607
+    ],
+    [
+     330,
+     -1.5594183206558228,
+     -1.9742172956466675,
+     0.07704098030998542
+    ],
+    [
+     340,
+     -1.4913403987884521,
+     -1.9680383205413818,
+     0.0815534750609454
+    ],
+    [
+     350,
+     -1.4211928844451904,
+     -1.963455080986023,
+     0.07661617982841801
+    ],
+    [
+     360,
+     -1.3541573286056519,
+     -1.9572464227676392,
+     0.08020590057427143
+    ],
+    [
+     370,
+     -1.2842769622802734,
+     -1.9518626928329468,
+     0.078671050951582
+    ],
+    [
+     380,
+     -1.218066692352295,
+     -1.9450196027755737,
+     0.08006702106401486
+    ],
+    [
+     390,
+     -1.1490038633346558,
+     -1.9395153522491455,
+     0.07846984729522424
+    ],
+    [
+     400,
+     -1.0820332765579224,
+     -1.9328525066375732,
+     0.08009023226509333
+    ],
+    [
+     410,
+     -1.0128847360610962,
+     -1.9270700216293335,
+     0.07943614205512092
+    ],
+    [
+     420,
+     -0.9447481632232666,
+     -1.9204267263412476,
+     0.07797806157947354
+    ],
+    [
+     430,
+     -0.8751207590103149,
+     -1.9146502017974854,
+     0.08111724611566762
+    ],
+    [
+     440,
+     -0.806167483329773,
+     -1.9082376956939697,
+     0.07881843053412106
+    ],
+    [
+     450,
+     -0.7368124127388,
+     -1.9019689559936523,
+     0.08439964322826855
+    ],
+    [
+     460,
+     -0.6674092411994934,
+     -1.896364450454712,
+     0.07938085174113219
+    ],
+    [
+     470,
+     -0.5980640053749084,
+     -1.8908154964447021,
+     0.08473878452919686
+    ],
+    [
+     480,
+     -0.5293603539466858,
+     -1.8853212594985962,
+     0.07978862915498151
+    ],
+    [
+     490,
+     -0.4617428481578827,
+     -1.8795448541641235,
+     0.08198571484783625
+    ],
+    [
+     500,
+     -0.3929605185985565,
+     -1.8736599683761597,
+     0.07965799814331923
+    ],
+    [
+     510,
+     -0.3264124095439911,
+     -1.8670252561569214,
+     0.08337453868385993
+    ],
+    [
+     520,
+     -0.25689059495925903,
+     -1.8614369630813599,
+     0.07776444273460534
+    ],
+    [
+     530,
+     -0.1897677630186081,
+     -1.8543413877487183,
+     0.08159505813880254
+    ],
+    [
+     540,
+     -0.11964347958564758,
+     -1.848608374595642,
+     0.07658605814715007
+    ],
+    [
+     550,
+     -0.05197647586464882,
+     -1.8412060737609863,
+     0.08165868064665346
+    ],
+    [
+     560,
+     0.018126029521226883,
+     -1.8361679315567017,
+     0.07806732333589907
+    ],
+    [
+     570,
+     0.08564330637454987,
+     -1.83050537109375,
+     0.07975422147857392
+    ],
+    [
+     580,
+     0.1551869660615921,
+     -1.8258123397827148,
+     0.07949818765337345
+    ],
+    [
+     590,
+     0.22243782877922058,
+     -1.8201566934585571,
+     0.08035723112875864
+    ],
+    [
+     600,
+     0.28860360383987427,
+     -1.8156582117080688,
+     0.08220477133599162
+    ],
+    [
+     610,
+     0.34741127490997314,
+     -1.810444712638855,
+     0.0781706463726082
+    ],
+    [
+     620,
+     0.3979111909866333,
+     -1.8061013221740723,
+     0.08387159369834381
+    ],
+    [
+     630,
+     0.4400927424430847,
+     -1.8027410507202148,
+     0.08081025158273727
+    ],
+    [
+     640,
+     0.47088682651519775,
+     -1.7969871759414673,
+     0.08625766728426734
+    ],
+    [
+     650,
+     0.49090278148651123,
+     -1.795597791671753,
+     0.08422629674338979
+    ],
+    [
+     660,
+     0.4979976713657379,
+     -1.7959232330322266,
+     0.08612319560170921
+    ],
+    [
+     670,
+     0.49590063095092773,
+     -1.7934718132019043,
+     0.09022094681512986
+    ],
+    [
+     680,
+     0.4938419759273529,
+     -1.791632056236267,
+     0.09145744450195299
+    ],
+    [
+     690,
+     0.4929846227169037,
+     -1.7905465364456177,
+     0.09202831292261912
+    ],
+    [
+     700,
+     0.4914775788784027,
+     -1.7902387380599976,
+     0.09231161422150672
+    ],
+    [
+     710,
+     0.4908767342567444,
+     -1.7902710437774658,
+     0.09194961982609015
+    ],
+    [
+     720,
+     0.4913088381290436,
+     -1.7903259992599487,
+     0.09193949000668088
+    ],
+    [
+     730,
+     0.4919695258140564,
+     -1.790350079536438,
+     0.09199023247570681
+    ],
+    [
+     740,
+     0.4926718771457672,
+     -1.7903075218200684,
+     0.0919737219004252
+    ],
+    [
+     750,
+     0.49296778440475464,
+     -1.7902895212173462,
+     0.09199717032003463
+    ],
+    [
+     760,
+     0.49260765314102173,
+     -1.7902921438217163,
+     0.09199261485629988
+    ],
+    [
+     770,
+     0.4921211898326874,
+     -1.7903234958648682,
+     0.09196495860614536
+    ],
+    [
+     780,
+     0.49168145656585693,
+     -1.7903637886047363,
+     0.0919722010271773
+    ],
+    [
+     790,
+     0.4913305640220642,
+     -1.7904149293899536,
+     0.09203517255939023
+    ],
+    [
+     800,
+     0.49104684591293335,
+     -1.7904636859893799,
+     0.09203883856173864
+    ],
+    [
+     810,
+     0.49082353711128235,
+     -1.7905042171478271,
+     0.09202418208560038
+    ],
+    [
+     820,
+     0.49069884419441223,
+     -1.7905501127243042,
+     0.09203590690786739
+    ],
+    [
+     830,
+     0.4905693233013153,
+     -1.7905805110931396,
+     0.09205199777049872
+    ],
+    [
+     840,
+     0.49042248725891113,
+     -1.7906039953231812,
+     0.0920410862366464
+    ],
+    [
+     850,
+     0.49028998613357544,
+     -1.7906336784362793,
+     0.09211830218695845
+    ],
+    [
+     860,
+     0.49016135931015015,
+     -1.79066002368927,
+     0.09210074034807628
+    ],
+    [
+     870,
+     0.4900561571121216,
+     -1.7906802892684937,
+     0.09209413159973316
+    ],
+    [
+     880,
+     0.48997482657432556,
+     -1.790685772895813,
+     0.0921136200118343
+    ],
+    [
+     890,
+     0.48996350169181824,
+     -1.7907015085220337,
+     0.09220962459687969
+    ],
+    [
+     900,
+     0.4898729622364044,
+     -1.7907058000564575,
+     0.09222646509752042
+    ],
+    [
+     910,
+     0.48986607789993286,
+     -1.7907211780548096,
+     0.09215203237308876
+    ],
+    [
+     920,
+     0.48987552523612976,
+     -1.7907471656799316,
+     0.0921309020213934
+    ],
+    [
+     930,
+     0.4899255335330963,
+     -1.7907795906066895,
+     0.09215462720706387
+    ],
+    [
+     940,
+     0.4899224638938904,
+     -1.7907946109771729,
+     0.09215528259406454
+    ],
+    [
+     950,
+     0.48990362882614136,
+     -1.790791392326355,
+     0.09215191185827418
+    ],
+    [
+     960,
+     0.4898016154766083,
+     -1.790769100189209,
+     0.09214377905282196
+    ],
+    [
+     970,
+     0.4897949695587158,
+     -1.7907501459121704,
+     0.09215799655862471
+    ],
+    [
+     980,
+     0.4899551272392273,
+     -1.7907382249832153,
+     0.09215970578488869
+    ],
+    [
+     990,
+     0.49129995703697205,
+     -1.791229486465454,
+     0.0903676842583055
+    ],
+    [
+     1000,
+     0.49260497093200684,
+     -1.7913625240325928,
+     0.09079185270491565
+    ],
+    [
+     1010,
+     0.4941214323043823,
+     -1.791503667831421,
+     0.09102744770194368
+    ],
+    [
+     1020,
+     0.4955484867095947,
+     -1.7913732528686523,
+     0.09142160799434285
+    ],
+    [
+     1030,
+     0.49606382846832275,
+     -1.791121244430542,
+     0.09161027200652813
+    ],
+    [
+     1040,
+     0.4948926270008087,
+     -1.7908082008361816,
+     0.09205851146603161
+    ],
+    [
+     1050,
+     0.49240151047706604,
+     -1.7907291650772095,
+     0.0920963139428959
+    ],
+    [
+     1060,
+     0.48876532912254333,
+     -1.7917407751083374,
+     0.08559748173025876
+    ],
+    [
+     1070,
+     0.46557876467704773,
+     -1.7944520711898804,
+     0.07829087612169025
+    ],
+    [
+     1080,
+     0.43044430017471313,
+     -1.8012714385986328,
+     0.08571911170528208
+    ],
+    [
+     1090,
+     0.3894970715045929,
+     -1.8060044050216675,
+     0.0757515053992569
+    ],
+    [
+     1100,
+     0.3479282855987549,
+     -1.805763840675354,
+     0.04375934650209979
+    ],
+    [
+     1110,
+     0.2999947667121887,
+     -1.8021639585494995,
+     0.02860766074121336
+    ],
+    [
+     1120,
+     0.2681603729724884,
+     -1.8012694120407104,
+     0.02268215974095738
+    ],
+    [
+     1130,
+     0.2428598701953888,
+     -1.7976326942443848,
+     0.016716633628207106
+    ],
+    [
+     1140,
+     0.22765421867370605,
+     -1.7773725986480713,
+     0.026864140619927326
+    ],
+    [
+     1150,
+     0.22155830264091492,
+     -1.742124080657959,
+     0.03112352753034915
+    ],
+    [
+     1160,
+     0.22155413031578064,
+     -1.7035210132598877,
+     0.03708668615182411
+    ],
+    [
+     1170,
+     0.21545876562595367,
+     -1.6551305055618286,
+     0.039421521973504486
+    ],
+    [
+     1180,
+     0.21087516844272614,
+     -1.6081604957580566,
+     0.043403095178611295
+    ],
+    [
+     1190,
+     0.20506934821605682,
+     -1.5593512058258057,
+     0.04873669225339057
+    ],
+    [
+     1200,
+     0.2005581557750702,
+     -1.5098850727081299,
+     0.05270197687633818
+    ],
+    [
+     1210,
+     0.19541005790233612,
+     -1.4627374410629272,
+     0.05044159209599619
+    ],
+    [
+     1220,
+     0.18780633807182312,
+     -1.414115309715271,
+     0.0516903194906688
+    ],
+    [
+     1230,
+     0.18299345672130585,
+     -1.3687430620193481,
+     0.04919679713639897
+    ],
+    [
+     1240,
+     0.17419438064098358,
+     -1.3204759359359741,
+     0.05198526468925198
+    ],
+    [
+     1250,
+     0.1688385009765625,
+     -1.2744791507720947,
+     0.048231845084179874
+    ],
+    [
+     1260,
+     0.1606721132993698,
+     -1.22615647315979,
+     0.05320292532532078
+    ],
+    [
+     1270,
+     0.1547912061214447,
+     -1.180014967918396,
+     0.04624592255202646
+    ],
+    [
+     1280,
+     0.14596004784107208,
+     -1.1325334310531616,
+     0.04976962216113566
+    ],
+    [
+     1290,
+     0.1402004212141037,
+     -1.086279273033142,
+     0.045894827693143944
+    ],
+    [
+     1300,
+     0.13239184021949768,
+     -1.0395984649658203,
+     0.04754542837970864
+    ],
+    [
+     1310,
+     0.12625746428966522,
+     -0.9923158288002014,
+     0.05133860662554352
+    ],
+    [
+     1320,
+     0.11868321895599365,
+     -0.9453372955322266,
+     0.05128046929971693
+    ],
+    [
+     1330,
+     0.11135091632604599,
+     -0.8967565298080444,
+     0.05237467063156409
+    ],
+    [
+     1340,
+     0.10486790537834167,
+     -0.8505527377128601,
+     0.049889422119429254
+    ],
+    [
+     1350,
+     0.09732691943645477,
+     -0.8018323183059692,
+     0.05232899892964104
+    ],
+    [
+     1360,
+     0.09424445033073425,
+     -0.7583949565887451,
+     0.0475538934893234
+    ],
+    [
+     1370,
+     0.08939775079488754,
+     -0.7157686948776245,
+     0.04616922639362261
+    ],
+    [
+     1380,
+     0.08794425427913666,
+     -0.6807678937911987,
+     0.048156568879814864
+    ],
+    [
+     1390,
+     0.08527699112892151,
+     -0.6513152718544006,
+     0.05056916929640198
+    ],
+    [
+     1400,
+     0.10195489227771759,
+     -0.6331858038902283,
+     0.060142189582656526
+    ],
+    [
+     1410,
+     0.14669330418109894,
+     -0.6254808306694031,
+     0.07685921619293799
+    ],
+    [
+     1420,
+     0.2028898298740387,
+     -0.6246698498725891,
+     0.08656700555694731
+    ],
+    [
+     1430,
+     0.2622842788696289,
+     -0.6231048703193665,
+     0.09443530301225483
+    ],
+    [
+     1440,
+     0.3278144896030426,
+     -0.6208696365356445,
+     0.09475279488182833
+    ],
+    [
+     1450,
+     0.39403215050697327,
+     -0.6174445748329163,
+     0.1001291993324393
+    ],
+    [
+     1460,
+     0.46355047821998596,
+     -0.6141038537025452,
+     0.09970327067704242
+    ],
+    [
+     1470,
+     0.531197190284729,
+     -0.6087008714675903,
+     0.10007729852462094
+    ],
+    [
+     1480,
+     0.6000499725341797,
+     -0.6029061675071716,
+     0.10273902362511447
+    ],
+    [
+     1490,
+     0.668106734752655,
+     -0.5971570611000061,
+     0.09831614099157746
+    ],
+    [
+     1500,
+     0.7360970973968506,
+     -0.5914362668991089,
+     0.1038287963298908
+    ],
+    [
+     1510,
+     0.8040286898612976,
+     -0.5854964256286621,
+     0.09747310657525321
+    ],
+    [
+     1520,
+     0.8717067241668701,
+     -0.5795108079910278,
+     0.10443239863444696
+    ],
+    [
+     1530,
+     0.9398587346076965,
+     -0.5733983516693115,
+     0.09665757729616005
+    ],
+    [
+     1540,
+     1.0075225830078125,
+     -0.5662878155708313,
+     0.1017758599221848
+    ],
+    [
+     1550,
+     1.076500654220581,
+     -0.5599941611289978,
+     0.0967226796034255
+    ],
+    [
+     1560,
+     1.144633412361145,
+     -0.5519046783447266,
+     0.09986559278983419
+    ],
+    [
+     1570,
+     1.2149025201797485,
+     -0.5446350574493408,
+     0.09484389643141324
+    ],
+    [
+     1580,
+     1.2821937799453735,
+     -0.5364142060279846,
+     0.09688325795115384
+    ],
+    [
+     1590,
+     1.3519868850708008,
+     -0.5299062728881836,
+     0.09496503196225256
+    ],
+    [
+     1600,
+     1.418595314025879,
+     -0.5226643681526184,
+     0.098249844534902
+    ],
+    [
+     1610,
+     1.488339900970459,
+     -0.5167326927185059,
+     0.09709105287065149
+    ],
+    [
+     1620,
+     1.5552921295166016,
+     -0.5092521905899048,
+     0.09913179041557628
+    ],
+    [
+     1630,
+     1.6245487928390503,
+     -0.5018882751464844,
+     0.09758639770820374
+    ],
+    [
+     1640,
+     1.6921195983886719,
+     -0.493681937456131,
+     0.0976968669562154
+    ],
+    [
+     1650,
+     1.761339545249939,
+     -0.4865356981754303,
+     0.09827228107296417
+    ],
+    [
+     1660,
+     1.829666256904602,
+     -0.47931692004203796,
+     0.09729973060300676
+    ],
+    [
+     1670,
+     1.8969882726669312,
+     -0.47191768884658813,
+     0.10081605314005374
+    ],
+    [
+     1680,
+     1.9582457542419434,
+     -0.46393337845802307,
+     0.09548727443321248
+    ],
+    [
+     1690,
+     2.0104143619537354,
+     -0.4578513205051422,
+     0.10189947162908414
+    ],
+    [
+     1700,
+     2.054128408432007,
+     -0.4532950222492218,
+     0.09767329231983028
+    ],
+    [
+     1710,
+     2.085681676864624,
+     -0.44628533720970154,
+     0.10230125950568465
+    ],
+    [
+     1720,
+     2.107147216796875,
+     -0.444549024105072,
+     0.10053725573879538
+    ],
+    [
+     1730,
+     2.1217498779296875,
+     -0.4434816539287567,
+     0.14903421613081083
+    ],
+    [
+     1740,
+     2.1306021213531494,
+     -0.443245530128479,
+     0.2711444839081437
+    ],
+    [
+     1750,
+     2.1311566829681396,
+     -0.4445187747478485,
+     0.4228232133329861
+    ],
+    [
+     1760,
+     2.1310346126556396,
+     -0.44740229845046997,
+     0.5746305394041428
+    ],
+    [
+     1770,
+     2.129342794418335,
+     -0.4503169655799866,
+     0.7401550182318993
+    ],
+    [
+     1780,
+     2.1287479400634766,
+     -0.4525590240955353,
+     0.9026280563293495
+    ],
+    [
+     1790,
+     2.129660129547119,
+     -0.45722320675849915,
+     1.0778470520393069
+    ],
+    [
+     1800,
+     2.127976894378662,
+     -0.4596334993839264,
+     1.2485526404904097
+    ],
+    [
+     1810,
+     2.128706455230713,
+     -0.4643914997577667,
+     1.4135744672478368
+    ],
+    [
+     1820,
+     2.127133369445801,
+     -0.4657774567604065,
+     1.5696917000925905
+    ],
+    [
+     1830,
+     2.1285386085510254,
+     -0.447141170501709,
+     1.6665971542889726
+    ],
+    [
+     1840,
+     2.125502109527588,
+     -0.40369802713394165,
+     1.7147281886323251
+    ],
+    [
+     1850,
+     2.119816303253174,
+     -0.34639501571655273,
+     1.698034841043367
+    ],
+    [
+     1860,
+     2.1182405948638916,
+     -0.28138434886932373,
+     1.6574507854335538
+    ],
+    [
+     1870,
+     2.120386838912964,
+     -0.21510113775730133,
+     1.6014983142500951
+    ],
+    [
+     1880,
+     2.125189781188965,
+     -0.14945897459983826,
+     1.5624467984913673
+    ],
+    [
+     1890,
+     2.1329517364501953,
+     -0.0820111557841301,
+     1.532396491311771
+    ],
+    [
+     1900,
+     2.1387505531311035,
+     -0.01577385887503624,
+     1.5207392068251455
+    ],
+    [
+     1910,
+     2.145655632019043,
+     0.05270631983876228,
+     1.5118960406900006
+    ],
+    [
+     1920,
+     2.149826765060425,
+     0.11829309910535812,
+     1.5139908608042032
+    ],
+    [
+     1930,
+     2.1544418334960938,
+     0.18728533387184143,
+     1.5124167317684316
+    ],
+    [
+     1940,
+     2.1566689014434814,
+     0.2540181875228882,
+     1.5167939297613575
+    ],
+    [
+     1950,
+     2.159820795059204,
+     0.32332828640937805,
+     1.5153198271058583
+    ],
+    [
+     1960,
+     2.161433458328247,
+     0.391362726688385,
+     1.5184204195598274
+    ],
+    [
+     1970,
+     2.163908004760742,
+     0.46134766936302185,
+     1.518489493504722
+    ],
+    [
+     1980,
+     2.1656250953674316,
+     0.530198335647583,
+     1.5192203106881033
+    ],
+    [
+     1990,
+     2.168991804122925,
+     0.5997903943061829,
+     1.521679714267141
+    ],
+    [
+     2000,
+     2.1726326942443848,
+     0.6684142351150513,
+     1.5197171510181393
+    ],
+    [
+     2010,
+     2.1772916316986084,
+     0.7375537157058716,
+     1.5262945123790883
+    ],
+    [
+     2020,
+     2.181281805038452,
+     0.8067998886108398,
+     1.5205934091496813
+    ],
+    [
+     2030,
+     2.1842875480651855,
+     0.8753624558448792,
+     1.5274092334698346
+    ],
+    [
+     2040,
+     2.1865806579589844,
+     0.9430685639381409,
+     1.52038916242273
+    ],
+    [
+     2050,
+     2.1884310245513916,
+     1.0048314332962036,
+     1.524987796915348
+    ],
+    [
+     2060,
+     2.1895029544830322,
+     1.0595223903656006,
+     1.5206349976289408
+    ],
+    [
+     2070,
+     2.187854051589966,
+     1.102513313293457,
+     1.5235232867558857
+    ],
+    [
+     2080,
+     2.189342498779297,
+     1.1407289505004883,
+     1.5203071170415239
+    ],
+    [
+     2090,
+     2.1894145011901855,
+     1.1694613695144653,
+     1.5223145539708978
+    ],
+    [
+     2100,
+     2.185426712036133,
+     1.184070348739624,
+     1.524620766791503
+    ],
+    [
+     2110,
+     2.182833671569824,
+     1.1863542795181274,
+     1.5222221185140463
+    ],
+    [
+     2120,
+     2.1825037002563477,
+     1.179429292678833,
+     1.5190922908158526
+    ],
+    [
+     2130,
+     2.182223081588745,
+     1.1722798347473145,
+     1.517644832987264
+    ],
+    [
+     2140,
+     2.1821048259735107,
+     1.1690037250518799,
+     1.5170411289550554
+    ],
+    [
+     2150,
+     2.1817729473114014,
+     1.1673532724380493,
+     1.5163398078419041
+    ],
+    [
+     2160,
+     2.181842803955078,
+     1.1662144660949707,
+     1.5151467549038151
+    ],
+    [
+     2170,
+     2.1822586059570312,
+     1.1645288467407227,
+     1.5153679539142089
+    ],
+    [
+     2180,
+     2.1826107501983643,
+     1.1645578145980835,
+     1.5155718682611885
+    ],
+    [
+     2190,
+     2.183203935623169,
+     1.1658254861831665,
+     1.5149400581029517
+    ],
+    [
+     2200,
+     2.183241844177246,
+     1.1663168668746948,
+     1.515356539061508
+    ],
+    [
+     2210,
+     2.1832756996154785,
+     1.1669065952301025,
+     1.5143400500063213
+    ],
+    [
+     2220,
+     2.1835055351257324,
+     1.1690820455551147,
+     1.515864481425337
+    ],
+    [
+     2230,
+     2.182706594467163,
+     1.1719157695770264,
+     1.519472386722772
+    ],
+    [
+     2240,
+     2.1823484897613525,
+     1.169515609741211,
+     1.5152125144241382
+    ],
+    [
+     2250,
+     2.1823315620422363,
+     1.1681554317474365,
+     1.5153678850858947
+    ],
+    [
+     2260,
+     2.1829991340637207,
+     1.168519139289856,
+     1.5152765855032466
+    ],
+    [
+     2270,
+     2.182953357696533,
+     1.1684069633483887,
+     1.515401713088624
+    ],
+    [
+     2280,
+     2.182950496673584,
+     1.1684017181396484,
+     1.515322013294223
+    ],
+    [
+     2290,
+     2.1829729080200195,
+     1.16842520236969,
+     1.5153611444832322
+    ],
+    [
+     2300,
+     2.1826863288879395,
+     1.1678415536880493,
+     1.5129811340805701
+    ],
+    [
+     2310,
+     2.182504415512085,
+     1.1669895648956299,
+     1.5134856485846768
+    ],
+    [
+     2320,
+     2.1829328536987305,
+     1.167826771736145,
+     1.5139547783526088
+    ],
+    [
+     2330,
+     2.183027505874634,
+     1.1687508821487427,
+     1.51383803077481
+    ],
+    [
+     2340,
+     2.182684898376465,
+     1.1687148809432983,
+     1.5139567346928615
+    ],
+    [
+     2350,
+     2.182614326477051,
+     1.1687082052230835,
+     1.5139420141941065
+    ],
+    [
+     2360,
+     2.1825640201568604,
+     1.1687743663787842,
+     1.5138780717272484
+    ],
+    [
+     2370,
+     2.1824629306793213,
+     1.1684832572937012,
+     1.5139355794839957
+    ]
+   ],
+   "base_path_length_m": 9.041407107127801,
+   "stage_events": [
+    {
+     "tick": 60,
+     "event": "stage",
+     "stage": "nav_A",
+     "goal": [
+      0.5939999999999999,
+      -1.8,
+      0.0
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 583,
+     "event": "enter_A",
+     "path_m": 3.4905171544861457
+    },
+    {
+     "tick": 642,
+     "event": "stage",
+     "stage": "open",
+     "hand": "open"
+    },
+    {
+     "tick": 658,
+     "event": "stage",
+     "stage": "pre_pinch",
+     "mode": 1,
+     "goal": [
+      1.1403,
+      -1.8084,
+      0.7307,
+      0.499,
+      -0.0182,
+      0.8658,
+      0.0317
+     ]
+    },
+    {
+     "tick": 745,
+     "event": "stage_end",
+     "stage": "pre_pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.0005090679587967442,
+     "l6": [
+      1.1399,
+      -1.8083,
+      0.731,
+      0.5067,
+      -0.0179,
+      0.8613,
+      0.0324
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.157,
+       2.325
+      ],
+      "piper_joint2": [
+       2.515,
+       0.625
+      ],
+      "piper_joint3": [
+       -2.446,
+       0.521
+      ],
+      "piper_joint4": [
+       0.256,
+       1.489
+      ],
+      "piper_joint5": [
+       0.542,
+       0.678
+      ],
+      "piper_joint6": [
+       -0.249,
+       1.845
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0845,
+      -0.0005,
+      0.0004
+     ],
+     "lowest_face": [
+      1.314,
+      -1.835,
+      0.601
+     ],
+     "face_tilt_deg": 90.0,
+     "face_over_block_top_m": 0.031,
+     "face_to_block_xy_m": 3.9409,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 745,
+     "event": "stage",
+     "stage": "pinch_align",
+     "mode": 4,
+     "goal": [
+      1.1404,
+      -1.8092,
+      0.7307,
+      0.4988,
+      -0.0199,
+      0.8658,
+      0.0345
+     ]
+    },
+    {
+     "tick": 806,
+     "event": "stage_end",
+     "stage": "pinch_align",
+     "outcome": "finished",
+     "pos_err_m": 0.00017589168905122354,
+     "l6": [
+      1.1402,
+      -1.8092,
+      0.7308,
+      0.4994,
+      -0.0197,
+      0.8655,
+      0.0344
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.158,
+       2.326
+      ],
+      "piper_joint2": [
+       2.548,
+       0.592
+      ],
+      "piper_joint3": [
+       -2.514,
+       0.453
+      ],
+      "piper_joint4": [
+       0.247,
+       1.498
+      ],
+      "piper_joint5": [
+       0.595,
+       0.625
+      ],
+      "piper_joint6": [
+       -0.238,
+       1.857
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0825,
+      -0.0001,
+      0.0015
+     ],
+     "lowest_face": [
+      1.314,
+      -1.835,
+      0.601
+     ],
+     "face_tilt_deg": 90.0,
+     "face_over_block_top_m": 0.031,
+     "face_to_block_xy_m": 3.9409,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 812,
+     "event": "stage",
+     "stage": "pinch",
+     "mode": 4,
+     "goal": [
+      1.1404,
+      -1.8092,
+      0.6707,
+      0.4988,
+      -0.0199,
+      0.8658,
+      0.0345
+     ]
+    },
+    {
+     "tick": 873,
+     "event": "stage_end",
+     "stage": "pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.004517492629490449,
+     "l6": [
+      1.1404,
+      -1.8092,
+      0.6753,
+      0.4988,
+      -0.02,
+      0.8658,
+      0.0346
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.158,
+       2.326
+      ],
+      "piper_joint2": [
+       2.545,
+       0.595
+      ],
+      "piper_joint3": [
+       -2.287,
+       0.68
+      ],
+      "piper_joint4": [
+       0.375,
+       1.37
+      ],
+      "piper_joint5": [
+       0.383,
+       0.837
+      ],
+      "piper_joint6": [
+       -0.383,
+       1.712
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0343,
+      0.0021,
+      -0.0262
+     ],
+     "lowest_face": [
+      1.314,
+      -1.835,
+      0.601
+     ],
+     "face_tilt_deg": 90.0,
+     "face_over_block_top_m": 0.031,
+     "face_to_block_xy_m": 3.9409,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 879,
+     "event": "stage",
+     "stage": "close",
+     "hand": "close"
+    },
+    {
+     "tick": 900,
+     "event": "grasp_close",
+     "hammer": [
+      1.2001796960830688,
+      -1.8027907609939575,
+      0.6013523936271667,
+      0.9989602565765381,
+      0.022527677938342094,
+      0.0008939940016716719,
+      0.03962421417236328
+     ]
+    },
+    {
+     "tick": 900,
+     "event": "grip_opening",
+     "opening_m": 0.015729576349258423
+    },
+    {
+     "tick": 900,
+     "event": "stage",
+     "stage": "lift",
+     "mode": 4,
+     "goal": [
+      1.1403,
+      -1.8091,
+      0.7512,
+      0.4992,
+      -0.0203,
+      0.8656,
+      0.0344
+     ]
+    },
+    {
+     "tick": 908,
+     "event": "object_first_moved",
+     "path_m": 3.824981433772999
+    },
+    {
+     "tick": 928,
+     "event": "lifted",
+     "z_gain": 0.030315041542053223
+    },
+    {
+     "tick": 961,
+     "event": "stage_end",
+     "stage": "lift",
+     "outcome": "finished",
+     "pos_err_m": 0.00545037860744994,
+     "l6": [
+      1.1405,
+      -1.809,
+      0.7458,
+      0.4995,
+      -0.021,
+      0.8654,
+      0.0344
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.157,
+       2.325
+      ],
+      "piper_joint2": [
+       2.613,
+       0.527
+      ],
+      "piper_joint3": [
+       -2.704,
+       0.263
+      ],
+      "piper_joint4": [
+       0.21,
+       1.535
+      ],
+      "piper_joint5": [
+       0.719,
+       0.501
+      ],
+      "piper_joint6": [
+       -0.193,
+       1.901
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.008,
+       0.008
+      ]
+     },
+     "hammer": [
+      1.2004,
+      -1.8027,
+      0.6759,
+      0.9989,
+      0.0224,
+      0.0006,
+      0.0402
+     ],
+     "hammer_in_tcp": [
+      0.0305,
+      -0.0006,
+      -0.0284
+     ],
+     "lowest_face": [
+      1.3169,
+      -1.8284,
+      0.6744
+     ],
+     "face_tilt_deg": 87.4,
+     "face_over_block_top_m": 0.1044,
+     "face_to_block_xy_m": 3.9339,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 972,
+     "event": "lift_check",
+     "gain": 0.07903242111206055
+    },
+    {
+     "tick": 972,
+     "event": "in_hand",
+     "hammer_in_tcp": [
+      0.03047648340631981,
+      -0.0006538154334350121,
+      -0.028449296837052773,
+      0.5004105454649812,
+      -0.002668549572658341,
+      -0.8657687180091846,
+      0.005166405651040776
+     ]
+    },
+    {
+     "tick": 972,
+     "event": "stage",
+     "stage": "carry",
+     "mode": 1,
+     "goal": [
+      0.8881,
+      -1.754,
+      0.8877,
+      0.4988,
+      -0.0206,
+      0.8658,
+      0.0343
+     ]
+    },
+    {
+     "tick": 1048,
+     "event": "stage_end",
+     "stage": "carry",
+     "outcome": "finished",
+     "pos_err_m": 0.0025808832392478,
+     "l6": [
+      0.8896,
+      -1.7537,
+      0.8898,
+      0.5002,
+      -0.0251,
+      0.8648,
+      0.0357
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.006,
+       2.174
+      ],
+      "piper_joint2": [
+       1.482,
+       1.482
+      ],
+      "piper_joint3": [
+       -1.47,
+       1.47
+      ],
+      "piper_joint4": [
+       0.023,
+       1.722
+      ],
+      "piper_joint5": [
+       0.603,
+       0.617
+      ],
+      "piper_joint6": [
+       0.018,
+       2.076
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.008,
+       0.008
+      ]
+     },
+     "hammer": [
+      0.9496,
+      -1.747,
+      0.8201,
+      0.9988,
+      0.0215,
+      -0.0002,
+      0.0445
+     ],
+     "hammer_in_tcp": [
+      0.0305,
+      -0.0006,
+      -0.0284
+     ],
+     "lowest_face": [
+      1.0663,
+      -1.7717,
+      0.8189
+     ],
+     "face_tilt_deg": 87.5,
+     "face_over_block_top_m": 0.2489,
+     "face_to_block_xy_m": 3.9439,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 1048,
+     "event": "stage",
+     "stage": "backoff_A",
+     "goal": [
+      0.14399999999999985,
+      -1.8,
+      0.0
+     ],
+     "heading": "goal"
+    },
+    {
+     "tick": 1122,
+     "event": "stage",
+     "stage": "via_1",
+     "goal": [
+      0.09999999999999987,
+      -0.55,
+      0.06182586609865193
+     ],
+     "heading": "goal"
+    },
+    {
+     "tick": 1188,
+     "event": "leave_A",
+     "path_m": 4.320867944714348
+    },
+    {
+     "tick": 1385,
+     "event": "stage",
+     "stage": "approach_B",
+     "goal": [
+      2.2,
+      -0.4199999999999997,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 1813,
+     "event": "stage",
+     "stage": "nav_B",
+     "goal": [
+      2.2,
+      1.2800000000000002,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 2028,
+     "event": "enter_B",
+     "path_m": 8.676491911747405
+    },
+    {
+     "tick": 2087,
+     "event": "strike_orientation",
+     "candidate": 0,
+     "face_sign": -1,
+     "approach": [
+      -0.0,
+      1.0,
+      -0.012
+     ],
+     "closing": [
+      -0.001,
+      0.012,
+      1.0
+     ]
+    },
+    {
+     "tick": 2087,
+     "event": "stage",
+     "stage": "pre_strike_turn",
+     "mode": 4,
+     "goal": [
+      2.2081,
+      1.5651,
+      0.9251,
+      0.0002,
+      -0.0002,
+      0.7112,
+      0.703
+     ]
+    },
+    {
+     "tick": 2148,
+     "event": "stage_end",
+     "stage": "pre_strike_turn",
+     "outcome": "finished",
+     "pos_err_m": 0.001245026945007161,
+     "l6": [
+      2.2072,
+      1.5643,
+      0.9254,
+      0.0281,
+      -0.0478,
+      0.7204,
+      0.6913
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.06,
+       2.228
+      ],
+      "piper_joint2": [
+       1.432,
+       1.432
+      ],
+      "piper_joint3": [
+       -1.402,
+       1.402
+      ],
+      "piper_joint4": [
+       0.932,
+       0.813
+      ],
+      "piper_joint5": [
+       0.175,
+       1.045
+      ],
+      "piper_joint6": [
+       0.539,
+       1.556
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1748,
+      1.6503,
+      0.9176,
+      0.634,
+      0.5783,
+      0.3346,
+      0.3895
+     ],
+     "hammer_in_tcp": [
+      0.0305,
+      -0.0009,
+      -0.0284
+     ],
+     "lowest_face": [
+      2.2324,
+      1.7497,
+      0.8858
+     ],
+     "face_tilt_deg": 6.3,
+     "face_over_block_top_m": 0.3158,
+     "face_to_block_xy_m": 0.254,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2154,
+     "event": "strike_orientation",
+     "candidate": 0,
+     "face_sign": -1,
+     "approach": [
+      -0.0,
+      1.0,
+      -0.012
+     ],
+     "closing": [
+      -0.001,
+      0.012,
+      1.0
+     ]
+    },
+    {
+     "tick": 2154,
+     "event": "stage",
+     "stage": "pre_strike",
+     "mode": 4,
+     "goal": [
+      2.1835,
+      1.8169,
+      0.7369,
+      0.0002,
+      -0.0002,
+      0.7112,
+      0.703
+     ]
+    },
+    {
+     "tick": 2229,
+     "event": "stage_end",
+     "stage": "pre_strike",
+     "outcome": "finished",
+     "pos_err_m": 0.011379946761856339,
+     "l6": [
+      2.1871,
+      1.8276,
+      0.7385,
+      0.0328,
+      0.0237,
+      0.7255,
+      0.6871
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.063,
+       2.105
+      ],
+      "piper_joint2": [
+       2.479,
+       0.661
+      ],
+      "piper_joint3": [
+       -2.254,
+       0.713
+      ],
+      "piper_joint4": [
+       0.826,
+       0.919
+      ],
+      "piper_joint5": [
+       -0.125,
+       1.095
+      ],
+      "piper_joint6": [
+       0.741,
+       1.353
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1639,
+      1.9166,
+      0.733,
+      0.6434,
+      0.6065,
+      0.3357,
+      0.3248
+     ],
+     "hammer_in_tcp": [
+      0.0303,
+      -0.0004,
+      -0.0285
+     ],
+     "lowest_face": [
+      2.2285,
+      2.0088,
+      0.6937
+     ],
+     "face_tilt_deg": 3.1,
+     "face_over_block_top_m": 0.1237,
+     "face_to_block_xy_m": 0.0195,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2229,
+     "event": "stage",
+     "stage": "strike",
+     "mode": 4,
+     "goal": [
+      2.1837,
+      1.8171,
+      0.5924,
+      0.0002,
+      -0.0002,
+      0.7112,
+      0.703
+     ]
+    },
+    {
+     "tick": 2287,
+     "event": "face_on_plane",
+     "gap": 0.0019858276652898743,
+     "lateral": 0.0029171595541951927,
+     "tilt": 0.9779261466087843,
+     "speed_mps": 0.11557348118203525
+    },
+    {
+     "tick": 2288,
+     "event": "strike",
+     "data_tick": 2288,
+     "evidence": "sensor",
+     "force_n": 3.401959320549916,
+     "reaction_slip_m": 6.22834021318165e-05,
+     "stall_ticks": 0,
+     "goal_deficit_m": 0.0,
+     "impact_speed_mps": 0.11557348118203525,
+     "lateral_m": 0.0026481819905171205,
+     "face_gap_m": 0.00018944665422226947,
+     "face_tilt_deg": 0.7251586537969414,
+     "face_sign": -1
+    },
+    {
+     "tick": 2291,
+     "event": "stage_end",
+     "stage": "strike",
+     "outcome": "finished",
+     "pos_err_m": 0.0113377182951671,
+     "l6": [
+      2.1844,
+      1.8176,
+      0.6037,
+      0.0031,
+      0.0013,
+      0.7099,
+      0.7043
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.061,
+       2.107
+      ],
+      "piper_joint2": [
+       2.641,
+       0.499
+      ],
+      "piper_joint3": [
+       -1.996,
+       0.971
+      ],
+      "piper_joint4": [
+       0.022,
+       1.723
+      ],
+      "piper_joint5": [
+       -0.547,
+       0.673
+      ],
+      "piper_joint6": [
+       1.552,
+       0.543
+      ],
+      "piper_joint7": [
+       0.007,
+       0.007
+      ],
+      "piper_joint8": [
+       -0.009,
+       0.009
+      ]
+     },
+     "hammer": [
+      2.1544,
+      1.905,
+      0.6027,
+      0.6093,
+      0.6178,
+      0.3447,
+      0.358
+     ],
+     "hammer_in_tcp": [
+      0.0305,
+      -0.0003,
+      -0.0282
+     ],
+     "lowest_face": [
+      2.2125,
+      2.004,
+      0.5703
+     ],
+     "face_tilt_deg": 1.3,
+     "face_over_block_top_m": 0.0002,
+     "face_to_block_xy_m": 0.0028,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2297,
+     "event": "stage",
+     "stage": "lift_after",
+     "mode": 4,
+     "goal": [
+      2.1849,
+      1.8167,
+      0.6823,
+      0.0018,
+      0.0009,
+      0.7057,
+      0.7085
+     ]
+    },
+    {
+     "tick": 2341,
+     "event": "head_left",
+     "gap": 0.050519746110321284
+    },
+    {
+     "tick": 2358,
+     "event": "stage_end",
+     "stage": "lift_after",
+     "outcome": "finished",
+     "pos_err_m": 0.006127122714200717,
+     "l6": [
+      2.1849,
+      1.8168,
+      0.6762,
+      0.002,
+      0.0007,
+      0.7059,
+      0.7083
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.059,
+       2.109
+      ],
+      "piper_joint2": [
+       2.505,
+       0.635
+      ],
+      "piper_joint3": [
+       -2.026,
+       0.941
+      ],
+      "piper_joint4": [
+       0.016,
+       1.729
+      ],
+      "piper_joint5": [
+       -0.395,
+       0.825
+      ],
+      "piper_joint6": [
+       1.557,
+       0.537
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1549,
+      1.9041,
+      0.6747,
+      0.6038,
+      0.6212,
+      0.3466,
+      0.3597
+     ],
+     "hammer_in_tcp": [
+      0.0304,
+      -0.0018,
+      -0.0283
+     ],
+     "lowest_face": [
+      2.2121,
+      2.0038,
+      0.643
+     ],
+     "face_tilt_deg": 1.8,
+     "face_over_block_top_m": 0.073,
+     "face_to_block_xy_m": 0.0024,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2369,
+     "event": "command_complete"
+    }
+   ],
+   "transport_state": "carried",
+   "transport_history": [
+    [
+     1,
+     "at_A"
+    ],
+    [
+     928,
+     "carried"
+    ],
+    [
+     2278,
+     "at_B"
+    ],
+    [
+     2326,
+     "carried"
+    ]
+   ],
+   "station_transition_order": [
+    "S",
+    "A",
+    "B"
+   ],
+   "interstation_path_lengths": {
+    "A->B": 4.355623967033057
+   },
+   "interstation_net_m": 3.132940403284942,
+   "distance_to_first_interaction": 3.824981433772999,
+   "final_approach_pose": [
+    2.1824629306793213,
+    1.1684832572937012,
+    1.5139355794839957
+   ],
+   "regrasp_events": 0,
+   "violations": [],
+   "mobile_checks": {
+    "stood_in_A": true,
+    "stood_in_B_after_A": true,
+    "object_lifted_at_A": true,
+    "interstation_path_long_enough": true,
+    "carried_over_the_transit": true,
+    "no_violation": true
+   },
+   "mobile_success": true,
+   "task_id": "N010",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a02",
+   "family_id": "C4",
+   "primary_category": "hammer_block_contact",
+   "level": "easy",
+   "embodiment": "go2_arm",
+   "scene_seed": 8045,
+   "execution_mode": "expert_collect",
+   "planner_seeds": "lean",
+   "review_cameras": [],
+   "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+   ],
+   "station_layout": {
+    "start": [
+     -3.2,
+     -2.0,
+     0.0
+    ],
+    "stands": {
+     "A": [
+      0.5939999999999999,
+      -1.8,
+      0.0
+     ],
+     "B": [
+      2.2,
+      1.2800000000000002,
+      1.5707963267948966
+     ]
+    },
+    "tables": {
+     "A": {
+      "aabb": [
+       0.8999999999999999,
+       -2.25,
+       1.5,
+       -1.35
+      ],
+      "top_z": 0.53
+     },
+     "B": {
+      "aabb": [
+       1.7500000000000002,
+       1.7,
+       2.6500000000000004,
+       2.3
+      ],
+      "top_z": 0.53
+     }
+    },
+    "room": [
+     -4.4,
+     4.4,
+     -3.25,
+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "force_n": 0.0,
+     "peak_force_n": 6.445540451037274,
+     "impulse_ns": 0.24301137253427932,
+     "reaction_slip_m": 0.0,
+     "face_lateral_m": 0.0020061031057133443,
+     "face_gap_m": 0.07917129903306863,
+     "face_tilt_deg": 1.783439968152769,
+     "robot_min_gap_m": 0.04761580087949494,
+     "contact_episodes": 1
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "rigid_friction",
+   "ticks": 2376,
+   "control_steps": 2246,
+   "hammer_final_pose": [
+    2.1546361446380615,
+    1.9036842584609985,
+    0.6808695793151855,
+    0.6037842631340027,
+    0.6211696267127991,
+    0.3464527726173401,
+    0.35994914174079895
+   ],
+   "block_final_pose": [
+    2.209977149963379,
+    2.002739906311035,
+    0.5299999713897705,
+    1.0,
+    7.846749099371664e-07,
+    1.5055881021908135e-06,
+    -4.300208189533805e-08
+   ],
+   "strike": {
+    "tick": 2288,
+    "evidence": "sensor",
+    "force_n": 3.401959320549916,
+    "reaction_slip_m": 6.22834021318165e-05,
+    "stall_ticks": 0,
+    "goal_deficit_m": 0.0,
+    "impact_speed_mps": 0.11557348118203525,
+    "lateral_m": 0.0026481819905171205,
+    "face_gap_m": 0.00018944665422226947,
+    "face_tilt_deg": 0.7251586537969414,
+    "face_sign": -1
+   },
+   "block_reaction": {
+    "observed": true,
+    "ref_tick": 887,
+    "ticks": 33,
+    "max_displacement_m": 6.107658604359387e-07,
+    "min_dz_m": 0.0,
+    "max_speed_mps": 3.686343692795331e-05,
+    "moved_1mm": false
+   },
+   "head_left_tick": 2341,
+   "contact_evidence": "sensor",
+   "force_data": "reliable",
+   "peak_force_n": 6.445540451037274,
+   "impulse_ns": 0.24301137253427932,
+   "contact_episodes": 1,
+   "max_reaction_slip_m": 0.0011648665602481164,
+   "max_stall_ticks_on_plane": 7,
+   "max_goal_deficit_on_plane_m": 0.08005485204566626,
+   "impact_speed_mps": 0.11557348118203525,
+   "face_on_plane_first_tick": 2287,
+   "robot_min_gap_m": 0.04761580087949494,
+   "contact_view": null,
+   "contact_sensor_error": null,
+   "force_source": "rigid contact view, block filtered on the hammer (last physics sub-step per control tick); alive only if it reads the block's weight"
+  }
+ ],
+ "collect": {
+  "task": "N010",
+  "robot": "go2_arm",
+  "visual_dr": true,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N010",
+   "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
+   }
+  }
+ }
+}

N010/go2_arm/dr_on/seed_8045/reports.jsonl

@@ -0,0 +1 @@
+{"spawn_pose": [-3.2733006477355957, -2.1244001388549805, -0.2371934959196252], "base_path": [[1, -3.2733006477355957, -2.1244001388549805, -0.2371934959196252], [10, -3.2805252075195312, -2.12440824508667, -0.2281294987902761], [20, -3.2844364643096924, -2.1261539459228516, -0.2419109583058702], [30, -3.284623861312866, -2.126868963241577, -0.25023403959500146], [40, -3.283689022064209, -2.1278469562530518, -0.2559628891468603], [50, -3.282273769378662, -2.1285014152526855, -0.259744239777414], [60, -3.2808101177215576, -2.1289544105529785, -0.26175371811251064], [70, -3.272559404373169, -2.129807710647583, -0.25531589441390995], [80, -3.2368760108947754, -2.12937068939209, -0.21530081739178064], [90, -3.1859564781188965, -2.13381290435791, -0.12946240653148539], [100, -3.1265270709991455, -2.136767864227295, -0.04913784685290537], [110, -3.060027599334717, -2.1359522342681885, 0.021795367150658627], [120, -2.9940097332000732, -2.1252622604370117, 0.06496078818456778], [130, -2.924839735031128, -2.1141269207000732, 0.09569705631403526], [140, -2.8566482067108154, -2.101135492324829, 0.09912265460129145], [150, -2.7897486686706543, -2.08923077583313, 0.10070844036243734], [160, -2.721140146255493, -2.0795860290527344, 0.09403388879694924], [170, -2.6537768840789795, -2.0708870887756348, 0.09328094804610075], [180, -2.5838429927825928, -2.0642311573028564, 0.08600443869954003], [190, -2.5175552368164062, -2.057210683822632, 0.08492305373568186], [200, -2.448110580444336, -2.0524895191192627, 0.07935814489256393], [210, -2.381484031677246, -2.046367883682251, 0.0816276987509041], [220, -2.3128457069396973, -2.0411081314086914, 0.07917917118921806], [230, -2.2458863258361816, -2.034359931945801, 0.07977747293823817], [240, -2.1763479709625244, -2.02836275100708, 0.0789000047311171], [250, -2.10772705078125, -2.0217769145965576, 0.07884095690699394], [260, -2.038193941116333, -2.0160703659057617, 0.08360254234935166], [270, -1.9695844650268555, -2.0106985569000244, 0.07970870143659366], [280, -1.9009991884231567, -2.0055394172668457, 0.08500458220759766], [290, -1.83225417137146, -1.9993342161178589, 0.07930888061955309], [300, -1.764086127281189, -1.9929898977279663, 0.08333222944994806], [310, -1.6960479021072388, -1.9866760969161987, 0.07846903154179734], [320, -1.6290122270584106, -1.9797097444534302, 0.08081410200098607], [330, -1.5594183206558228, -1.9742172956466675, 0.07704098030998542], [340, -1.4913403987884521, -1.9680383205413818, 0.0815534750609454], [350, -1.4211928844451904, -1.963455080986023, 0.07661617982841801], [360, -1.3541573286056519, -1.9572464227676392, 0.08020590057427143], [370, -1.2842769622802734, -1.9518626928329468, 0.078671050951582], [380, -1.218066692352295, -1.9450196027755737, 0.08006702106401486], [390, -1.1490038633346558, -1.9395153522491455, 0.07846984729522424], [400, -1.0820332765579224, -1.9328525066375732, 0.08009023226509333], [410, -1.0128847360610962, -1.9270700216293335, 0.07943614205512092], [420, -0.9447481632232666, -1.9204267263412476, 0.07797806157947354], [430, -0.8751207590103149, -1.9146502017974854, 0.08111724611566762], [440, -0.806167483329773, -1.9082376956939697, 0.07881843053412106], [450, -0.7368124127388, -1.9019689559936523, 0.08439964322826855], [460, -0.6674092411994934, -1.896364450454712, 0.07938085174113219], [470, -0.5980640053749084, -1.8908154964447021, 0.08473878452919686], [480, -0.5293603539466858, -1.8853212594985962, 0.07978862915498151], [490, -0.4617428481578827, -1.8795448541641235, 0.08198571484783625], [500, -0.3929605185985565, -1.8736599683761597, 0.07965799814331923], [510, -0.3264124095439911, -1.8670252561569214, 0.08337453868385993], [520, -0.25689059495925903, -1.8614369630813599, 0.07776444273460534], [530, -0.1897677630186081, -1.8543413877487183, 0.08159505813880254], [540, -0.11964347958564758, -1.848608374595642, 0.07658605814715007], [550, -0.05197647586464882, -1.8412060737609863, 0.08165868064665346], [560, 0.018126029521226883, -1.8361679315567017, 0.07806732333589907], [570, 0.08564330637454987, -1.83050537109375, 0.07975422147857392], [580, 0.1551869660615921, -1.8258123397827148, 0.07949818765337345], [590, 0.22243782877922058, -1.8201566934585571, 0.08035723112875864], [600, 0.28860360383987427, -1.8156582117080688, 0.08220477133599162], [610, 0.34741127490997314, -1.810444712638855, 0.0781706463726082], [620, 0.3979111909866333, -1.8061013221740723, 0.08387159369834381], [630, 0.4400927424430847, -1.8027410507202148, 0.08081025158273727], [640, 0.47088682651519775, -1.7969871759414673, 0.08625766728426734], [650, 0.49090278148651123, -1.795597791671753, 0.08422629674338979], [660, 0.4979976713657379, -1.7959232330322266, 0.08612319560170921], [670, 0.49590063095092773, -1.7934718132019043, 0.09022094681512986], [680, 0.4938419759273529, -1.791632056236267, 0.09145744450195299], [690, 0.4929846227169037, -1.7905465364456177, 0.09202831292261912], [700, 0.4914775788784027, -1.7902387380599976, 0.09231161422150672], [710, 0.4908767342567444, -1.7902710437774658, 0.09194961982609015], [720, 0.4913088381290436, -1.7903259992599487, 0.09193949000668088], [730, 0.4919695258140564, -1.790350079536438, 0.09199023247570681], [740, 0.4926718771457672, -1.7903075218200684, 0.0919737219004252], [750, 0.49296778440475464, -1.7902895212173462, 0.09199717032003463], [760, 0.49260765314102173, -1.7902921438217163, 0.09199261485629988], [770, 0.4921211898326874, -1.7903234958648682, 0.09196495860614536], [780, 0.49168145656585693, -1.7903637886047363, 0.0919722010271773], [790, 0.4913305640220642, -1.7904149293899536, 0.09203517255939023], [800, 0.49104684591293335, -1.7904636859893799, 0.09203883856173864], [810, 0.49082353711128235, -1.7905042171478271, 0.09202418208560038], [820, 0.49069884419441223, -1.7905501127243042, 0.09203590690786739], [830, 0.4905693233013153, -1.7905805110931396, 0.09205199777049872], [840, 0.49042248725891113, -1.7906039953231812, 0.0920410862366464], [850, 0.49028998613357544, -1.7906336784362793, 0.09211830218695845], [860, 0.49016135931015015, -1.79066002368927, 0.09210074034807628], [870, 0.4900561571121216, -1.7906802892684937, 0.09209413159973316], [880, 0.48997482657432556, -1.790685772895813, 0.0921136200118343], [890, 0.48996350169181824, -1.7907015085220337, 0.09220962459687969], [900, 0.4898729622364044, -1.7907058000564575, 0.09222646509752042], [910, 0.48986607789993286, -1.7907211780548096, 0.09215203237308876], [920, 0.48987552523612976, -1.7907471656799316, 0.0921309020213934], [930, 0.4899255335330963, -1.7907795906066895, 0.09215462720706387], [940, 0.4899224638938904, -1.7907946109771729, 0.09215528259406454], [950, 0.48990362882614136, -1.790791392326355, 0.09215191185827418], [960, 0.4898016154766083, -1.790769100189209, 0.09214377905282196], [970, 0.4897949695587158, -1.7907501459121704, 0.09215799655862471], [980, 0.4899551272392273, -1.7907382249832153, 0.09215970578488869], [990, 0.49129995703697205, -1.791229486465454, 0.0903676842583055], [1000, 0.49260497093200684, -1.7913625240325928, 0.09079185270491565], [1010, 0.4941214323043823, -1.791503667831421, 0.09102744770194368], [1020, 0.4955484867095947, -1.7913732528686523, 0.09142160799434285], [1030, 0.49606382846832275, -1.791121244430542, 0.09161027200652813], [1040, 0.4948926270008087, -1.7908082008361816, 0.09205851146603161], [1050, 0.49240151047706604, -1.7907291650772095, 0.0920963139428959], [1060, 0.48876532912254333, -1.7917407751083374, 0.08559748173025876], [1070, 0.46557876467704773, -1.7944520711898804, 0.07829087612169025], [1080, 0.43044430017471313, -1.8012714385986328, 0.08571911170528208], [1090, 0.3894970715045929, -1.8060044050216675, 0.0757515053992569], [1100, 0.3479282855987549, -1.805763840675354, 0.04375934650209979], [1110, 0.2999947667121887, -1.8021639585494995, 0.02860766074121336], [1120, 0.2681603729724884, -1.8012694120407104, 0.02268215974095738], [1130, 0.2428598701953888, -1.7976326942443848, 0.016716633628207106], [1140, 0.22765421867370605, -1.7773725986480713, 0.026864140619927326], [1150, 0.22155830264091492, -1.742124080657959, 0.03112352753034915], [1160, 0.22155413031578064, -1.7035210132598877, 0.03708668615182411], [1170, 0.21545876562595367, -1.6551305055618286, 0.039421521973504486], [1180, 0.21087516844272614, -1.6081604957580566, 0.043403095178611295], [1190, 0.20506934821605682, -1.5593512058258057, 0.04873669225339057], [1200, 0.2005581557750702, -1.5098850727081299, 0.05270197687633818], [1210, 0.19541005790233612, -1.4627374410629272, 0.05044159209599619], [1220, 0.18780633807182312, -1.414115309715271, 0.0516903194906688], [1230, 0.18299345672130585, -1.3687430620193481, 0.04919679713639897], [1240, 0.17419438064098358, -1.3204759359359741, 0.05198526468925198], [1250, 0.1688385009765625, -1.2744791507720947, 0.048231845084179874], [1260, 0.1606721132993698, -1.22615647315979, 0.05320292532532078], [1270, 0.1547912061214447, -1.180014967918396, 0.04624592255202646], [1280, 0.14596004784107208, -1.1325334310531616, 0.04976962216113566], [1290, 0.1402004212141037, -1.086279273033142, 0.045894827693143944], [1300, 0.13239184021949768, -1.0395984649658203, 0.04754542837970864], [1310, 0.12625746428966522, -0.9923158288002014, 0.05133860662554352], [1320, 0.11868321895599365, -0.9453372955322266, 0.05128046929971693], [1330, 0.11135091632604599, -0.8967565298080444, 0.05237467063156409], [1340, 0.10486790537834167, -0.8505527377128601, 0.049889422119429254], [1350, 0.09732691943645477, -0.8018323183059692, 0.05232899892964104], [1360, 0.09424445033073425, -0.7583949565887451, 0.0475538934893234], [1370, 0.08939775079488754, -0.7157686948776245, 0.04616922639362261], [1380, 0.08794425427913666, -0.6807678937911987, 0.048156568879814864], [1390, 0.08527699112892151, -0.6513152718544006, 0.05056916929640198], [1400, 0.10195489227771759, -0.6331858038902283, 0.060142189582656526], [1410, 0.14669330418109894, -0.6254808306694031, 0.07685921619293799], [1420, 0.2028898298740387, -0.6246698498725891, 0.08656700555694731], [1430, 0.2622842788696289, -0.6231048703193665, 0.09443530301225483], [1440, 0.3278144896030426, -0.6208696365356445, 0.09475279488182833], [1450, 0.39403215050697327, -0.6174445748329163, 0.1001291993324393], [1460, 0.46355047821998596, -0.6141038537025452, 0.09970327067704242], [1470, 0.531197190284729, -0.6087008714675903, 0.10007729852462094], [1480, 0.6000499725341797, -0.6029061675071716, 0.10273902362511447], [1490, 0.668106734752655, -0.5971570611000061, 0.09831614099157746], [1500, 0.7360970973968506, -0.5914362668991089, 0.1038287963298908], [1510, 0.8040286898612976, -0.5854964256286621, 0.09747310657525321], [1520, 0.8717067241668701, -0.5795108079910278, 0.10443239863444696], [1530, 0.9398587346076965, -0.5733983516693115, 0.09665757729616005], [1540, 1.0075225830078125, -0.5662878155708313, 0.1017758599221848], [1550, 1.076500654220581, -0.5599941611289978, 0.0967226796034255], [1560, 1.144633412361145, -0.5519046783447266, 0.09986559278983419], [1570, 1.2149025201797485, -0.5446350574493408, 0.09484389643141324], [1580, 1.2821937799453735, -0.5364142060279846, 0.09688325795115384], [1590, 1.3519868850708008, -0.5299062728881836, 0.09496503196225256], [1600, 1.418595314025879, -0.5226643681526184, 0.098249844534902], [1610, 1.488339900970459, -0.5167326927185059, 0.09709105287065149], [1620, 1.5552921295166016, -0.5092521905899048, 0.09913179041557628], [1630, 1.6245487928390503, -0.5018882751464844, 0.09758639770820374], [1640, 1.6921195983886719, -0.493681937456131, 0.0976968669562154], [1650, 1.761339545249939, -0.4865356981754303, 0.09827228107296417], [1660, 1.829666256904602, -0.47931692004203796, 0.09729973060300676], [1670, 1.8969882726669312, -0.47191768884658813, 0.10081605314005374], [1680, 1.9582457542419434, -0.46393337845802307, 0.09548727443321248], [1690, 2.0104143619537354, -0.4578513205051422, 0.10189947162908414], [1700, 2.054128408432007, -0.4532950222492218, 0.09767329231983028], [1710, 2.085681676864624, -0.44628533720970154, 0.10230125950568465], [1720, 2.107147216796875, -0.444549024105072, 0.10053725573879538], [1730, 2.1217498779296875, -0.4434816539287567, 0.14903421613081083], [1740, 2.1306021213531494, -0.443245530128479, 0.2711444839081437], [1750, 2.1311566829681396, -0.4445187747478485, 0.4228232133329861], [1760, 2.1310346126556396, -0.44740229845046997, 0.5746305394041428], [1770, 2.129342794418335, -0.4503169655799866, 0.7401550182318993], [1780, 2.1287479400634766, -0.4525590240955353, 0.9026280563293495], [1790, 2.129660129547119, -0.45722320675849915, 1.0778470520393069], [1800, 2.127976894378662, -0.4596334993839264, 1.2485526404904097], [1810, 2.128706455230713, -0.4643914997577667, 1.4135744672478368], [1820, 2.127133369445801, -0.4657774567604065, 1.5696917000925905], [1830, 2.1285386085510254, -0.447141170501709, 1.6665971542889726], [1840, 2.125502109527588, -0.40369802713394165, 1.7147281886323251], [1850, 2.119816303253174, -0.34639501571655273, 1.698034841043367], [1860, 2.1182405948638916, -0.28138434886932373, 1.6574507854335538], [1870, 2.120386838912964, -0.21510113775730133, 1.6014983142500951], [1880, 2.125189781188965, -0.14945897459983826, 1.5624467984913673], [1890, 2.1329517364501953, -0.0820111557841301, 1.532396491311771], [1900, 2.1387505531311035, -0.01577385887503624, 1.5207392068251455], [1910, 2.145655632019043, 0.05270631983876228, 1.5118960406900006], [1920, 2.149826765060425, 0.11829309910535812, 1.5139908608042032], [1930, 2.1544418334960938, 0.18728533387184143, 1.5124167317684316], [1940, 2.1566689014434814, 0.2540181875228882, 1.5167939297613575], [1950, 2.159820795059204, 0.32332828640937805, 1.5153198271058583], [1960, 2.161433458328247, 0.391362726688385, 1.5184204195598274], [1970, 2.163908004760742, 0.46134766936302185, 1.518489493504722], [1980, 2.1656250953674316, 0.530198335647583, 1.5192203106881033], [1990, 2.168991804122925, 0.5997903943061829, 1.521679714267141], [2000, 2.1726326942443848, 0.6684142351150513, 1.5197171510181393], [2010, 2.1772916316986084, 0.7375537157058716, 1.5262945123790883], [2020, 2.181281805038452, 0.8067998886108398, 1.5205934091496813], [2030, 2.1842875480651855, 0.8753624558448792, 1.5274092334698346], [2040, 2.1865806579589844, 0.9430685639381409, 1.52038916242273], [2050, 2.1884310245513916, 1.0048314332962036, 1.524987796915348], [2060, 2.1895029544830322, 1.0595223903656006, 1.5206349976289408], [2070, 2.187854051589966, 1.102513313293457, 1.5235232867558857], [2080, 2.189342498779297, 1.1407289505004883, 1.5203071170415239], [2090, 2.1894145011901855, 1.1694613695144653, 1.5223145539708978], [2100, 2.185426712036133, 1.184070348739624, 1.524620766791503], [2110, 2.182833671569824, 1.1863542795181274, 1.5222221185140463], [2120, 2.1825037002563477, 1.179429292678833, 1.5190922908158526], [2130, 2.182223081588745, 1.1722798347473145, 1.517644832987264], [2140, 2.1821048259735107, 1.1690037250518799, 1.5170411289550554], [2150, 2.1817729473114014, 1.1673532724380493, 1.5163398078419041], [2160, 2.181842803955078, 1.1662144660949707, 1.5151467549038151], [2170, 2.1822586059570312, 1.1645288467407227, 1.5153679539142089], [2180, 2.1826107501983643, 1.1645578145980835, 1.5155718682611885], [2190, 2.183203935623169, 1.1658254861831665, 1.5149400581029517], [2200, 2.183241844177246, 1.1663168668746948, 1.515356539061508], [2210, 2.1832756996154785, 1.1669065952301025, 1.5143400500063213], [2220, 2.1835055351257324, 1.1690820455551147, 1.515864481425337], [2230, 2.182706594467163, 1.1719157695770264, 1.519472386722772], [2240, 2.1823484897613525, 1.169515609741211, 1.5152125144241382], [2250, 2.1823315620422363, 1.1681554317474365, 1.5153678850858947], [2260, 2.1829991340637207, 1.168519139289856, 1.5152765855032466], [2270, 2.182953357696533, 1.1684069633483887, 1.515401713088624], [2280, 2.182950496673584, 1.1684017181396484, 1.515322013294223], [2290, 2.1829729080200195, 1.16842520236969, 1.5153611444832322], [2300, 2.1826863288879395, 1.1678415536880493, 1.5129811340805701], [2310, 2.182504415512085, 1.1669895648956299, 1.5134856485846768], [2320, 2.1829328536987305, 1.167826771736145, 1.5139547783526088], [2330, 2.183027505874634, 1.1687508821487427, 1.51383803077481], [2340, 2.182684898376465, 1.1687148809432983, 1.5139567346928615], [2350, 2.182614326477051, 1.1687082052230835, 1.5139420141941065], [2360, 2.1825640201568604, 1.1687743663787842, 1.5138780717272484], [2370, 2.1824629306793213, 1.1684832572937012, 1.5139355794839957]], "base_path_length_m": 9.041407107127801, "stage_events": [{"tick": 60, "event": "stage", "stage": "nav_A", "goal": [0.5939999999999999, -1.8, 0.0], "heading": "path"}, {"tick": 583, "event": "enter_A", "path_m": 3.4905171544861457}, {"tick": 642, "event": "stage", "stage": "open", "hand": "open"}, {"tick": 658, "event": "stage", "stage": "pre_pinch", "mode": 1, "goal": [1.1403, -1.8084, 0.7307, 0.499, -0.0182, 0.8658, 0.0317]}, {"tick": 745, "event": "stage_end", "stage": "pre_pinch", "outcome": "finished", "pos_err_m": 0.0005090679587967442, "l6": [1.1399, -1.8083, 0.731, 0.5067, -0.0179, 0.8613, 0.0324], "arm_q_margin": {"piper_joint1": [-0.157, 2.325], "piper_joint2": [2.515, 0.625], "piper_joint3": [-2.446, 0.521], "piper_joint4": [0.256, 1.489], "piper_joint5": [0.542, 0.678], "piper_joint6": [-0.249, 1.845], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0845, -0.0005, 0.0004], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9409, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 745, "event": "stage", "stage": "pinch_align", "mode": 4, "goal": [1.1404, -1.8092, 0.7307, 0.4988, -0.0199, 0.8658, 0.0345]}, {"tick": 806, "event": "stage_end", "stage": "pinch_align", "outcome": "finished", "pos_err_m": 0.00017589168905122354, "l6": [1.1402, -1.8092, 0.7308, 0.4994, -0.0197, 0.8655, 0.0344], "arm_q_margin": {"piper_joint1": [-0.158, 2.326], "piper_joint2": [2.548, 0.592], "piper_joint3": [-2.514, 0.453], "piper_joint4": [0.247, 1.498], "piper_joint5": [0.595, 0.625], "piper_joint6": [-0.238, 1.857], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0825, -0.0001, 0.0015], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9409, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 812, "event": "stage", "stage": "pinch", "mode": 4, "goal": [1.1404, -1.8092, 0.6707, 0.4988, -0.0199, 0.8658, 0.0345]}, {"tick": 873, "event": "stage_end", "stage": "pinch", "outcome": "finished", "pos_err_m": 0.004517492629490449, "l6": [1.1404, -1.8092, 0.6753, 0.4988, -0.02, 0.8658, 0.0346], "arm_q_margin": {"piper_joint1": [-0.158, 2.326], "piper_joint2": [2.545, 0.595], "piper_joint3": [-2.287, 0.68], "piper_joint4": [0.375, 1.37], "piper_joint5": [0.383, 0.837], "piper_joint6": [-0.383, 1.712], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0343, 0.0021, -0.0262], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9409, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 879, "event": "stage", "stage": "close", "hand": "close"}, {"tick": 900, "event": "grasp_close", "hammer": [1.2001796960830688, -1.8027907609939575, 0.6013523936271667, 0.9989602565765381, 0.022527677938342094, 0.0008939940016716719, 0.03962421417236328]}, {"tick": 900, "event": "grip_opening", "opening_m": 0.015729576349258423}, {"tick": 900, "event": "stage", "stage": "lift", "mode": 4, "goal": [1.1403, -1.8091, 0.7512, 0.4992, -0.0203, 0.8656, 0.0344]}, {"tick": 908, "event": "object_first_moved", "path_m": 3.824981433772999}, {"tick": 928, "event": "lifted", "z_gain": 0.030315041542053223}, {"tick": 961, "event": "stage_end", "stage": "lift", "outcome": "finished", "pos_err_m": 0.00545037860744994, "l6": [1.1405, -1.809, 0.7458, 0.4995, -0.021, 0.8654, 0.0344], "arm_q_margin": {"piper_joint1": [-0.157, 2.325], "piper_joint2": [2.613, 0.527], "piper_joint3": [-2.704, 0.263], "piper_joint4": [0.21, 1.535], "piper_joint5": [0.719, 0.501], "piper_joint6": [-0.193, 1.901], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.008, 0.008]}, "hammer": [1.2004, -1.8027, 0.6759, 0.9989, 0.0224, 0.0006, 0.0402], "hammer_in_tcp": [0.0305, -0.0006, -0.0284], "lowest_face": [1.3169, -1.8284, 0.6744], "face_tilt_deg": 87.4, "face_over_block_top_m": 0.1044, "face_to_block_xy_m": 3.9339, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 972, "event": "lift_check", "gain": 0.07903242111206055}, {"tick": 972, "event": "in_hand", "hammer_in_tcp": [0.03047648340631981, -0.0006538154334350121, -0.028449296837052773, 0.5004105454649812, -0.002668549572658341, -0.8657687180091846, 0.005166405651040776]}, {"tick": 972, "event": "stage", "stage": "carry", "mode": 1, "goal": [0.8881, -1.754, 0.8877, 0.4988, -0.0206, 0.8658, 0.0343]}, {"tick": 1048, "event": "stage_end", "stage": "carry", "outcome": "finished", "pos_err_m": 0.0025808832392478, "l6": [0.8896, -1.7537, 0.8898, 0.5002, -0.0251, 0.8648, 0.0357], "arm_q_margin": {"piper_joint1": [-0.006, 2.174], "piper_joint2": [1.482, 1.482], "piper_joint3": [-1.47, 1.47], "piper_joint4": [0.023, 1.722], "piper_joint5": [0.603, 0.617], "piper_joint6": [0.018, 2.076], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.008, 0.008]}, "hammer": [0.9496, -1.747, 0.8201, 0.9988, 0.0215, -0.0002, 0.0445], "hammer_in_tcp": [0.0305, -0.0006, -0.0284], "lowest_face": [1.0663, -1.7717, 0.8189], "face_tilt_deg": 87.5, "face_over_block_top_m": 0.2489, "face_to_block_xy_m": 3.9439, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 1048, "event": "stage", "stage": "backoff_A", "goal": [0.14399999999999985, -1.8, 0.0], "heading": "goal"}, {"tick": 1122, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 0.06182586609865193], "heading": "goal"}, {"tick": 1188, "event": "leave_A", "path_m": 4.320867944714348}, {"tick": 1385, "event": "stage", "stage": "approach_B", "goal": [2.2, -0.4199999999999997, 1.5707963267948966], "heading": "path"}, {"tick": 1813, "event": "stage", "stage": "nav_B", "goal": [2.2, 1.2800000000000002, 1.5707963267948966], "heading": "path"}, {"tick": 2028, "event": "enter_B", "path_m": 8.676491911747405}, {"tick": 2087, "event": "strike_orientation", "candidate": 0, "face_sign": -1, "approach": [-0.0, 1.0, -0.012], "closing": [-0.001, 0.012, 1.0]}, {"tick": 2087, "event": "stage", "stage": "pre_strike_turn", "mode": 4, "goal": [2.2081, 1.5651, 0.9251, 0.0002, -0.0002, 0.7112, 0.703]}, {"tick": 2148, "event": "stage_end", "stage": "pre_strike_turn", "outcome": "finished", "pos_err_m": 0.001245026945007161, "l6": [2.2072, 1.5643, 0.9254, 0.0281, -0.0478, 0.7204, 0.6913], "arm_q_margin": {"piper_joint1": [-0.06, 2.228], "piper_joint2": [1.432, 1.432], "piper_joint3": [-1.402, 1.402], "piper_joint4": [0.932, 0.813], "piper_joint5": [0.175, 1.045], "piper_joint6": [0.539, 1.556], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1748, 1.6503, 0.9176, 0.634, 0.5783, 0.3346, 0.3895], "hammer_in_tcp": [0.0305, -0.0009, -0.0284], "lowest_face": [2.2324, 1.7497, 0.8858], "face_tilt_deg": 6.3, "face_over_block_top_m": 0.3158, "face_to_block_xy_m": 0.254, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2154, "event": "strike_orientation", "candidate": 0, "face_sign": -1, "approach": [-0.0, 1.0, -0.012], "closing": [-0.001, 0.012, 1.0]}, {"tick": 2154, "event": "stage", "stage": "pre_strike", "mode": 4, "goal": [2.1835, 1.8169, 0.7369, 0.0002, -0.0002, 0.7112, 0.703]}, {"tick": 2229, "event": "stage_end", "stage": "pre_strike", "outcome": "finished", "pos_err_m": 0.011379946761856339, "l6": [2.1871, 1.8276, 0.7385, 0.0328, 0.0237, 0.7255, 0.6871], "arm_q_margin": {"piper_joint1": [0.063, 2.105], "piper_joint2": [2.479, 0.661], "piper_joint3": [-2.254, 0.713], "piper_joint4": [0.826, 0.919], "piper_joint5": [-0.125, 1.095], "piper_joint6": [0.741, 1.353], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1639, 1.9166, 0.733, 0.6434, 0.6065, 0.3357, 0.3248], "hammer_in_tcp": [0.0303, -0.0004, -0.0285], "lowest_face": [2.2285, 2.0088, 0.6937], "face_tilt_deg": 3.1, "face_over_block_top_m": 0.1237, "face_to_block_xy_m": 0.0195, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2229, "event": "stage", "stage": "strike", "mode": 4, "goal": [2.1837, 1.8171, 0.5924, 0.0002, -0.0002, 0.7112, 0.703]}, {"tick": 2287, "event": "face_on_plane", "gap": 0.0019858276652898743, "lateral": 0.0029171595541951927, "tilt": 0.9779261466087843, "speed_mps": 0.11557348118203525}, {"tick": 2288, "event": "strike", "data_tick": 2288, "evidence": "sensor", "force_n": 3.401959320549916, "reaction_slip_m": 6.22834021318165e-05, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": 0.11557348118203525, "lateral_m": 0.0026481819905171205, "face_gap_m": 0.00018944665422226947, "face_tilt_deg": 0.7251586537969414, "face_sign": -1}, {"tick": 2291, "event": "stage_end", "stage": "strike", "outcome": "finished", "pos_err_m": 0.0113377182951671, "l6": [2.1844, 1.8176, 0.6037, 0.0031, 0.0013, 0.7099, 0.7043], "arm_q_margin": {"piper_joint1": [0.061, 2.107], "piper_joint2": [2.641, 0.499], "piper_joint3": [-1.996, 0.971], "piper_joint4": [0.022, 1.723], "piper_joint5": [-0.547, 0.673], "piper_joint6": [1.552, 0.543], "piper_joint7": [0.007, 0.007], "piper_joint8": [-0.009, 0.009]}, "hammer": [2.1544, 1.905, 0.6027, 0.6093, 0.6178, 0.3447, 0.358], "hammer_in_tcp": [0.0305, -0.0003, -0.0282], "lowest_face": [2.2125, 2.004, 0.5703], "face_tilt_deg": 1.3, "face_over_block_top_m": 0.0002, "face_to_block_xy_m": 0.0028, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2297, "event": "stage", "stage": "lift_after", "mode": 4, "goal": [2.1849, 1.8167, 0.6823, 0.0018, 0.0009, 0.7057, 0.7085]}, {"tick": 2341, "event": "head_left", "gap": 0.050519746110321284}, {"tick": 2358, "event": "stage_end", "stage": "lift_after", "outcome": "finished", "pos_err_m": 0.006127122714200717, "l6": [2.1849, 1.8168, 0.6762, 0.002, 0.0007, 0.7059, 0.7083], "arm_q_margin": {"piper_joint1": [0.059, 2.109], "piper_joint2": [2.505, 0.635], "piper_joint3": [-2.026, 0.941], "piper_joint4": [0.016, 1.729], "piper_joint5": [-0.395, 0.825], "piper_joint6": [1.557, 0.537], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1549, 1.9041, 0.6747, 0.6038, 0.6212, 0.3466, 0.3597], "hammer_in_tcp": [0.0304, -0.0018, -0.0283], "lowest_face": [2.2121, 2.0038, 0.643], "face_tilt_deg": 1.8, "face_over_block_top_m": 0.073, "face_to_block_xy_m": 0.0024, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2369, "event": "command_complete"}], "transport_state": "carried", "transport_history": [[1, "at_A"], [928, "carried"], [2278, "at_B"], [2326, "carried"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.355623967033057}, "interstation_net_m": 3.132940403284942, "distance_to_first_interaction": 3.824981433772999, "final_approach_pose": [2.1824629306793213, 1.1684832572937012, 1.5139355794839957], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N010", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C4", "primary_category": "hammer_block_contact", "level": "easy", "embodiment": "go2_arm", "scene_seed": 8045, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5939999999999999, -1.8, 0.0], "B": [2.2, 1.2800000000000002, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"force_n": 0.0, "peak_force_n": 6.445540451037274, "impulse_ns": 0.24301137253427932, "reaction_slip_m": 0.0, "face_lateral_m": 0.0020061031057133443, "face_gap_m": 0.07917129903306863, "face_tilt_deg": 1.783439968152769, "robot_min_gap_m": 0.04761580087949494, "contact_episodes": 1}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "rigid_friction", "ticks": 2376, "control_steps": 2246, "hammer_final_pose": [2.1546361446380615, 1.9036842584609985, 0.6808695793151855, 0.6037842631340027, 0.6211696267127991, 0.3464527726173401, 0.35994914174079895], "block_final_pose": [2.209977149963379, 2.002739906311035, 0.5299999713897705, 1.0, 7.846749099371664e-07, 1.5055881021908135e-06, -4.300208189533805e-08], "strike": {"tick": 2288, "evidence": "sensor", "force_n": 3.401959320549916, "reaction_slip_m": 6.22834021318165e-05, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": 0.11557348118203525, "lateral_m": 0.0026481819905171205, "face_gap_m": 0.00018944665422226947, "face_tilt_deg": 0.7251586537969414, "face_sign": -1}, "block_reaction": {"observed": true, "ref_tick": 887, "ticks": 33, "max_displacement_m": 6.107658604359387e-07, "min_dz_m": 0.0, "max_speed_mps": 3.686343692795331e-05, "moved_1mm": false}, "head_left_tick": 2341, "contact_evidence": "sensor", "force_data": "reliable", "peak_force_n": 6.445540451037274, "impulse_ns": 0.24301137253427932, "contact_episodes": 1, "max_reaction_slip_m": 0.0011648665602481164, "max_stall_ticks_on_plane": 7, "max_goal_deficit_on_plane_m": 0.08005485204566626, "impact_speed_mps": 0.11557348118203525, "face_on_plane_first_tick": 2287, "robot_min_gap_m": 0.04761580087949494, "contact_view": null, "contact_sensor_error": null, "force_source": "rigid contact view, block filtered on the hammer (last physics sub-step per control tick); alive only if it reads the block's weight"}