add N021/sawyer_umi/dr_off/seed_1040

N021/sawyer_umi/dr_off/seed_1040/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1334 rows vs ceil(2667/2) = 1334"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2697, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.41 MB, 1334 frames at 25 fps, mean luma 102..140, std 35, new picture 1333x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1334 vs 1334"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.06 MB, 1334 frames at 25 fps, mean luma 98..154, std 39, new picture 1333x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1334 vs 1334"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N021/sawyer_umi/dr_off/seed_1040/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n021_saw_off_1040/out  task=N021  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n021_saw_off_1040/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1334  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1334 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'
+rows 1334 at dataset fps 25 = 53.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1334 rows vs ceil(2667/2) = 1334
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2697, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.41 MB, 1334 frames at 25 fps, mean luma 102..140, std 35, new picture 1333x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1334 vs 1334
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.06 MB, 1334 frames at 25 fps, mean luma 98..154, std 39, new picture 1333x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1334 vs 1334
+parquet size 1.98 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 38.62 MB; whole cell dir 39.5 MB
+RESULT: ALL PASS

N021/sawyer_umi/dr_off/seed_1040/report.json

@@ -0,0 +1,1744 @@
+{
+  "task": "N021",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1040,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/scratch/xc536/magicsim_atomic/MagicSim/src/magicsim/Collect/Task/MobileAssembly/Conf/n021_peg_insertion.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1040,
+    "rack_peg": {
+      "dx": -0.06695,
+      "dy": 0.06941,
+      "yaw_deg": 0.60107
+    },
+    "hole_block": {
+      "dx": -0.00816,
+      "dy": 0.06833,
+      "yaw_deg": -1.02658
+    },
+    "peg_mass": 0.03843,
+    "peg_friction": 1.08824,
+    "light": 903.40621,
+    "spawn": {
+      "dx": -0.00759,
+      "dy": 0.13607,
+      "yaw_deg": -0.30363
+    },
+    "overrides": {
+      "env.scene.objects.peg_rack.common.pos": [
+        -2.06695,
+        1.36941,
+        0.43
+      ],
+      "env.scene.objects.peg_rack.common.ori": [
+        0.0,
+        0.0,
+        0.60107
+      ],
+      "env.scene.objects.peg.common.pos": [
+        -2.06695,
+        1.36941,
+        0.511
+      ],
+      "env.scene.objects.peg.common.ori": [
+        0.0,
+        0.0,
+        90.60107
+      ],
+      "env.scene.objects.hole_block.common.pos": [
+        1.19184,
+        2.88833,
+        0.43
+      ],
+      "env.scene.objects.hole_block.common.ori": [
+        0.0,
+        0.0,
+        -1.02658
+      ],
+      "env.scene.objects.peg.peg_1.physics.mass": 0.03843,
+      "env.scene.objects.peg.peg_1.physics.physics_material.static_friction": 1.08824,
+      "env.scene.objects.peg.peg_1.physics.physics_material.dynamic_friction": 1.08824,
+      "env.scene.background.intensity": [
+        903.40621,
+        903.40621
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.60759,
+          -2.36393,
+          0.06
+        ],
+        [
+          -3.60759,
+          -2.36393,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          59.69637
+        ],
+        [
+          0,
+          0,
+          59.69637
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N021",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N021",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2697,
+  "task_id": "N021",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "peg_insertion",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    },
+    "B": {
+      "center": [
+        1.2,
+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
+  },
+  "spawn_pose": [
+    -3.6075897216796875,
+    -2.3639297485351562,
+    1.0418980900980952
+  ],
+  "base_path": [
+    [
+      -3.608,
+      -2.364,
+      1.042
+    ],
+    [
+      -3.608,
+      -2.364,
+      1.042
+    ],
+    [
+      -3.608,
+      -2.364,
+      1.042
+    ],
+    [
+      -3.607,
+      -2.364,
+      1.042
+    ],
+    [
+      -3.596,
+      -2.343,
+      1.06
+    ],
+    [
+      -3.568,
+      -2.294,
+      1.072
+    ],
+    [
+      -3.541,
+      -2.24,
+      1.081
+    ],
+    [
+      -3.513,
+      -2.187,
+      1.086
+    ],
+    [
+      -3.486,
+      -2.134,
+      1.09
+    ],
+    [
+      -3.459,
+      -2.08,
+      1.092
+    ],
+    [
+      -3.432,
+      -2.026,
+      1.094
+    ],
+    [
+      -3.405,
+      -1.973,
+      1.095
+    ],
+    [
+      -3.378,
+      -1.919,
+      1.096
+    ],
+    [
+      -3.351,
+      -1.866,
+      1.096
+    ],
+    [
+      -3.324,
+      -1.812,
+      1.097
+    ],
+    [
+      -3.297,
+      -1.759,
+      1.097
+    ],
+    [
+      -3.27,
+      -1.705,
+      1.097
+    ],
+    [
+      -3.243,
+      -1.651,
+      1.097
+    ],
+    [
+      -3.216,
+      -1.598,
+      1.097
+    ],
+    [
+      -3.189,
+      -1.544,
+      1.097
+    ],
+    [
+      -3.162,
+      -1.491,
+      1.097
+    ],
+    [
+      -3.135,
+      -1.437,
+      1.097
+    ],
+    [
+      -3.108,
+      -1.384,
+      1.097
+    ],
+    [
+      -3.079,
+      -1.331,
+      1.097
+    ],
+    [
+      -3.052,
+      -1.277,
+      1.097
+    ],
+    [
+      -3.025,
+      -1.224,
+      1.097
+    ],
+    [
+      -2.999,
+      -1.17,
+      1.097
+    ],
+    [
+      -2.971,
+      -1.117,
+      1.097
+    ],
+    [
+      -2.943,
+      -1.064,
+      1.097
+    ],
+    [
+      -2.916,
+      -1.01,
+      1.097
+    ],
+    [
+      -2.889,
+      -0.957,
+      1.097
+    ],
+    [
+      -2.862,
+      -0.903,
+      1.097
+    ],
+    [
+      -2.833,
+      -0.851,
+      1.097
+    ],
+    [
+      -2.806,
+      -0.797,
+      1.097
+    ],
+    [
+      -2.779,
+      -0.744,
+      1.097
+    ],
+    [
+      -2.752,
+      -0.69,
+      1.097
+    ],
+    [
+      -2.725,
+      -0.637,
+      1.097
+    ],
+    [
+      -2.697,
+      -0.584,
+      1.097
+    ],
+    [
+      -2.67,
+      -0.53,
+      1.097
+    ],
+    [
+      -2.643,
+      -0.477,
+      1.097
+    ],
+    [
+      -2.616,
+      -0.423,
+      1.097
+    ],
+    [
+      -2.588,
+      -0.37,
+      1.097
+    ],
+    [
+      -2.56,
+      -0.317,
+      1.097
+    ],
+    [
+      -2.533,
+      -0.263,
+      1.097
+    ],
+    [
+      -2.506,
+      -0.21,
+      1.097
+    ],
+    [
+      -2.479,
+      -0.156,
+      1.097
+    ],
+    [
+      -2.451,
+      -0.103,
+      1.097
+    ],
+    [
+      -2.423,
+      -0.05,
+      1.097
+    ],
+    [
+      -2.396,
+      0.004,
+      1.097
+    ],
+    [
+      -2.369,
+      0.057,
+      1.097
+    ],
+    [
+      -2.342,
+      0.11,
+      1.097
+    ],
+    [
+      -2.314,
+      0.163,
+      1.097
+    ],
+    [
+      -2.287,
+      0.217,
+      1.097
+    ],
+    [
+      -2.26,
+      0.27,
+      1.097
+    ],
+    [
+      -2.232,
+      0.324,
+      1.097
+    ],
+    [
+      -2.196,
+      0.368,
+      1.097
+    ],
+    [
+      -2.165,
+      0.405,
+      1.097
+    ],
+    [
+      -2.138,
+      0.436,
+      1.097
+    ],
+    [
+      -2.116,
+      0.462,
+      1.097
+    ],
+    [
+      -2.098,
+      0.484,
+      1.097
+    ],
+    [
+      -2.081,
+      0.503,
+      1.097
+    ],
+    [
+      -2.068,
+      0.519,
+      1.097
+    ],
+    [
+      -2.062,
+      0.527,
+      1.176
+    ],
+    [
+      -2.062,
+      0.527,
+      1.28
+    ],
+    [
+      -2.062,
+      0.527,
+      1.356
+    ],
+    [
+      -2.062,
+      0.527,
+      1.413
+    ],
+    [
+      -2.062,
+      0.527,
+      1.459
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.062,
+      0.527,
+      1.463
+    ],
+    [
+      -2.061,
+      0.527,
+      1.384
+    ],
+    [
+      -2.061,
+      0.527,
+      1.224
+    ],
+    [
+      -2.061,
+      0.527,
+      1.064
+    ],
+    [
+      -2.061,
+      0.527,
+      0.904
+    ],
+    [
+      -2.061,
+      0.527,
+      0.751
+    ],
+    [
+      -2.055,
+      0.531,
+      0.618
+    ],
+    [
+      -2.017,
+      0.554,
+      0.513
+    ],
+    [
+      -1.963,
+      0.571,
+      0.443
+    ],
+    [
+      -1.916,
+      0.588,
+      0.397
+    ],
+    [
+      -1.875,
+      0.602,
+      0.366
+    ],
+    [
+      -1.838,
+      0.613,
+      0.345
+    ],
+    [
+      -1.794,
+      0.626,
+      0.332
+    ],
+    [
+      -1.756,
+      0.636,
+      0.323
+    ],
+    [
+      -1.714,
+      0.648,
+      0.317
+    ],
+    [
+      -1.672,
+      0.659,
+      0.313
+    ],
+    [
+      -1.635,
+      0.669,
+      0.31
+    ],
+    [
+      -1.591,
+      0.683,
+      0.308
+    ],
+    [
+      -1.554,
+      0.694,
+      0.307
+    ],
+    [
+      -1.512,
+      0.706,
+      0.306
+    ],
+    [
+      -1.471,
+      0.719,
+      0.306
+    ],
+    [
+      -1.435,
+      0.729,
+      0.305
+    ],
+    [
+      -1.391,
+      0.742,
+      0.305
+    ],
+    [
+      -1.354,
+      0.753,
+      0.305
+    ],
+    [
+      -1.312,
+      0.766,
+      0.295
+    ],
+    [
+      -1.272,
+      0.779,
+      0.282
+    ],
+    [
+      -1.236,
+      0.789,
+      0.273
+    ],
+    [
+      -1.192,
+      0.801,
+      0.266
+    ],
+    [
+      -1.154,
+      0.811,
+      0.261
+    ],
+    [
+      -1.112,
+      0.822,
+      0.258
+    ],
+    [
+      -1.072,
+      0.832,
+      0.256
+    ],
+    [
+      -1.035,
+      0.842,
+      0.255
+    ],
+    [
+      -0.991,
+      0.854,
+      0.254
+    ],
+    [
+      -0.953,
+      0.864,
+      0.253
+    ],
+    [
+      -0.912,
+      0.875,
+      0.253
+    ],
+    [
+      -0.871,
+      0.885,
+      0.252
+    ],
+    [
+      -0.835,
+      0.895,
+      0.252
+    ],
+    [
+      -0.79,
+      0.906,
+      0.252
+    ],
+    [
+      -0.753,
+      0.916,
+      0.252
+    ],
+    [
+      -0.711,
+      0.927,
+      0.252
+    ],
+    [
+      -0.67,
+      0.937,
+      0.252
+    ],
+    [
+      -0.634,
+      0.946,
+      0.252
+    ],
+    [
+      -0.587,
+      0.956,
+      0.252
+    ],
+    [
+      -0.551,
+      0.965,
+      0.252
+    ],
+    [
+      -0.509,
+      0.975,
+      0.252
+    ],
+    [
+      -0.469,
+      0.985,
+      0.252
+    ],
+    [
+      -0.433,
+      0.994,
+      0.252
+    ],
+    [
+      -0.389,
+      1.006,
+      0.252
+    ],
+    [
+      -0.351,
+      1.015,
+      0.252
+    ],
+    [
+      -0.31,
+      1.026,
+      0.252
+    ],
+    [
+      -0.269,
+      1.036,
+      0.252
+    ],
+    [
+      -0.233,
+      1.046,
+      0.252
+    ],
+    [
+      -0.189,
+      1.057,
+      0.252
+    ],
+    [
+      -0.152,
+      1.067,
+      0.252
+    ],
+    [
+      -0.11,
+      1.077,
+      0.252
+    ],
+    [
+      -0.07,
+      1.087,
+      0.252
+    ],
+    [
+      -0.033,
+      1.097,
+      0.252
+    ],
+    [
+      0.011,
+      1.108,
+      0.252
+    ],
+    [
+      0.048,
+      1.118,
+      0.252
+    ],
+    [
+      0.09,
+      1.129,
+      0.252
+    ],
+    [
+      0.13,
+      1.139,
+      0.252
+    ],
+    [
+      0.167,
+      1.148,
+      0.252
+    ],
+    [
+      0.211,
+      1.16,
+      0.252
+    ],
+    [
+      0.248,
+      1.169,
+      0.252
+    ],
+    [
+      0.289,
+      1.18,
+      0.252
+    ],
+    [
+      0.33,
+      1.19,
+      0.252
+    ],
+    [
+      0.367,
+      1.2,
+      0.252
+    ],
+    [
+      0.411,
+      1.211,
+      0.252
+    ],
+    [
+      0.448,
+      1.22,
+      0.252
+    ],
+    [
+      0.49,
+      1.232,
+      0.252
+    ],
+    [
+      0.53,
+      1.243,
+      0.252
+    ],
+    [
+      0.566,
+      1.252,
+      0.252
+    ],
+    [
+      0.61,
+      1.264,
+      0.252
+    ],
+    [
+      0.647,
+      1.274,
+      0.252
+    ],
+    [
+      0.689,
+      1.286,
+      0.252
+    ],
+    [
+      0.729,
+      1.297,
+      0.252
+    ],
+    [
+      0.766,
+      1.306,
+      0.252
+    ],
+    [
+      0.81,
+      1.317,
+      0.252
+    ],
+    [
+      0.848,
+      1.326,
+      0.252
+    ],
+    [
+      0.889,
+      1.337,
+      0.252
+    ],
+    [
+      0.93,
+      1.348,
+      0.252
+    ],
+    [
+      0.966,
+      1.359,
+      0.252
+    ],
+    [
+      1.004,
+      1.374,
+      0.252
+    ],
+    [
+      1.036,
+      1.385,
+      0.252
+    ],
+    [
+      1.062,
+      1.395,
+      0.252
+    ],
+    [
+      1.085,
+      1.403,
+      0.252
+    ],
+    [
+      1.103,
+      1.411,
+      0.252
+    ],
+    [
+      1.111,
+      1.418,
+      0.363
+    ],
+    [
+      1.111,
+      1.418,
+      0.523
+    ],
+    [
+      1.111,
+      1.418,
+      0.683
+    ],
+    [
+      1.111,
+      1.418,
+      0.843
+    ],
+    [
+      1.111,
+      1.418,
+      1.003
+    ],
+    [
+      1.111,
+      1.418,
+      1.151
+    ],
+    [
+      1.111,
+      1.418,
+      1.261
+    ],
+    [
+      1.111,
+      1.418,
+      1.343
+    ],
+    [
+      1.111,
+      1.418,
+      1.403
+    ],
+    [
+      1.111,
+      1.418,
+      1.449
+    ],
+    [
+      1.111,
+      1.418,
+      1.496
+    ],
+    [
+      1.11,
+      1.42,
+      1.519
+    ],
+    [
+      1.11,
+      1.452,
+      1.519
+    ],
+    [
+      1.112,
+      1.49,
+      1.519
+    ],
+    [
+      1.114,
+      1.528,
+      1.519
+    ],
+    [
+      1.117,
+      1.567,
+      1.519
+    ],
+    [
+      1.119,
+      1.604,
+      1.519
+    ],
+    [
+      1.121,
+      1.643,
+      1.519
+    ],
+    [
+      1.123,
+      1.681,
+      1.519
+    ],
+    [
+      1.125,
+      1.719,
+      1.519
+    ],
+    [
+      1.128,
+      1.756,
+      1.519
+    ],
+    [
+      1.13,
+      1.795,
+      1.519
+    ],
+    [
+      1.132,
+      1.833,
+      1.519
+    ],
+    [
+      1.134,
+      1.87,
+      1.519
+    ],
+    [
+      1.136,
+      1.909,
+      1.519
+    ],
+    [
+      1.139,
+      1.947,
+      1.519
+    ],
+    [
+      1.141,
+      1.983,
+      1.519
+    ],
+    [
+      1.142,
+      2.011,
+      1.519
+    ],
+    [
+      1.143,
+      2.032,
+      1.519
+    ],
+    [
+      1.144,
+      2.047,
+      1.519
+    ],
+    [
+      1.144,
+      2.058,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ],
+    [
+      1.145,
+      2.063,
+      1.519
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 501,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.342,
+        0.11
+      ]
+    },
+    {
+      "step": 653,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 653,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 661,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 661,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1088,
+      "event": "picked",
+      "part": [
+        -2.0657,
+        1.3695,
+        0.54
+      ],
+      "gap_mm": 15.1,
+      "lift_mm": 30.0
+    },
+    {
+      "step": 1139,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1139,
+      "event": "stage_start",
+      "stage": "carry"
+    },
+    {
+      "step": 1266,
+      "event": "stage_done",
+      "stage": "carry",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1266,
+      "event": "stage_start",
+      "stage": "nav_B"
+    },
+    {
+      "step": 2215,
+      "event": "stage_done",
+      "stage": "nav_B",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 2215,
+      "event": "stage_start",
+      "stage": "stance_B"
+    },
+    {
+      "step": 2266,
+      "event": "enter_zone",
+      "zone": "B",
+      "base": [
+        1.113,
+        1.509
+      ]
+    },
+    {
+      "step": 2435,
+      "event": "stage_done",
+      "stage": "stance_B",
+      "skill_state": "finished"
+    },
+    {
+      "step": 2435,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 2435,
+      "event": "wp_start",
+      "name": "pre_insert",
+      "kind": "plan"
+    },
+    {
+      "step": 2435,
+      "event": "assemble_start",
+      "t_l6_part": [
+        0.2318,
+        0.0073,
+        0.0016,
+        0.498,
+        0.5002,
+        -0.4998,
+        -0.5019
+      ]
+    },
+    {
+      "step": 2588,
+      "event": "wp_done",
+      "name": "pre_insert"
+    },
+    {
+      "step": 2588,
+      "event": "wp_start",
+      "name": "align",
+      "kind": "servo"
+    },
+    {
+      "step": 2624,
+      "event": "wp_done",
+      "name": "align"
+    },
+    {
+      "step": 2624,
+      "event": "wp_start",
+      "name": "insert",
+      "kind": "servo"
+    },
+    {
+      "step": 2660,
+      "event": "wp_done",
+      "name": "insert"
+    },
+    {
+      "step": 2660,
+      "event": "release_start"
+    },
+    {
+      "step": 2668,
+      "event": "released",
+      "gap_mm": 39.6
+    },
+    {
+      "step": 2697,
+      "event": "success",
+      "ok": true,
+      "depth_mm": 40.0,
+      "lateral_mm": 1.1,
+      "axis_deg": 0.0
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A",
+    "B"
+  ],
+  "interstation_path_lengths": {
+    "S": 2.779,
+    "S->A": 3.899,
+    "A->B": 0.554
+  },
+  "base_path_length": 7.233,
+  "distance_to_first_interaction": 3.285,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "depth_mm": 40.0,
+    "lateral_mm": 1.1,
+    "axis_deg": 0.0
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 881.8
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/completed/0.json

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

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a15269639b227de0d8589f4bbb07dc3f1b95aa6f2b785ec86dcecda1945e19d
+size 1976626

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole."], "length": 1334, "magicsim/control_steps": 2667, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is in front of the peg rack. The gray table B is in front of the hole block. The hole block is on top of the gray table B. The hole block is behind the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height."}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1360706179298047, -0.0015637693183868007, 0.008882614680050315, -0.8169427015211271, 1.1707738601285658, 0.943185467233901, 0.030755976325660565, 0.3255849792056534, -0.01748558774880107, -0.3533577040798482, 0.6214392803598201], "std": [0.12116870273083763, 0.00900866117694569, 0.18253983522961284, 1.642381259055475, 1.0539882419859852, 0.22051971701844406, 0.31406704857737294, 0.5110773828525307, 0.35889920816426, 0.5284259576054966, 0.4850283509091813], "min": [0.0, -0.06662306189537048, -0.800000011920929, -3.4764316082000732, -1.8189467191696167, 0.7287930846214294, -0.4870011508464813, -0.7100951671600342, -0.4602236747741699, -0.7071940302848816, 0.0], "max": [0.30000001192092896, 0.023883970454335213, 0.800000011920929, 1.7163724899291992, 2.8959426879882812, 1.303368091583252, 0.5235517621040344, 0.7126140594482422, 0.5099889636039734, 0.7100702524185181, 1.0], "count": [1334]}, "action_is_hold": {"mean": [0.015742128935532233, 0.015742128935532233, 0.015742128935532233, 0.05622188905547226, 0.05622188905547226, 0.05622188905547226, 0.05622188905547226, 0.05622188905547226, 0.05622188905547226, 0.05622188905547226, 0.8808095952023988], "std": [0.12447615961343579, 0.12447615961343579, 0.12447615961343579, 0.23034970858784615, 0.23034970858784615, 0.23034970858784615, 0.23034970858784615, 0.23034970858784615, 0.23034970858784615, 0.23034970858784615, 0.32401242599904717], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1334]}, "observation.state": {"mean": [0.2789770881275366, -3.0515648205240984, 1.0045815591422513, 0.05505733227685896, 1.292506337004414e-08, -1.4869357790725342, -0.3689176823924129, 1.4300728063399288, -0.03304632193535292, 1.7579982608690792, 0.9636887817511173, 0.007941259087817997, -0.007164952743667864, -0.007164952743667864, -0.007941259087817997], "std": [1.6160837144589515, 0.9186881499163945, 0.5155507494685304, 0.09272602742430001, 2.167356447640978e-05, 0.1896976211925381, 0.25913669121277627, 0.601110111490771, 0.16771797033500854, 0.5993010110180804, 0.6529062400426252, 0.006791077118237929, 0.006794152015836721, 0.006794152015836721, 0.006791077118237929], "min": [-3.6075899600982666, -4.530125617980957, 0.251928448677063, -0.2671589255332947, -0.0001583426637807861, -1.6304517984390259, -0.8375568985939026, 0.4903535842895508, -0.2759183347225189, 1.0083327293395996, -0.01967236027121544, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.6120941638946533, -2.1952803134918213, 1.5186302661895752, 0.27128997445106506, 0.00037379859713837504, -0.9107133150100708, 0.025567950680851936, 1.9542683362960815, 0.5755240321159363, 2.704774856567383, 2.5986740589141846, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1334]}, "observation.joint_vel": {"mean": [0.11667967409161394, -0.03504786194060401, 0.008976628850368103, 0.004597808112436372, 0.0001457828963276225, 0.012632718301387536, -0.016001153038622002, 0.021762889458599496, 0.009214271212939608, -0.031905153996551146, 0.0439617400340382, 0.0051043454247134855, 0.006092888726997673], "std": [0.11218235492593172, 0.07464283330134512, 0.18190670627572975, 0.06814643186579972, 0.0010205379502324402, 0.06610744432826929, 0.07765865979698917, 0.09030529412678608, 0.08128923333198307, 0.1010472230958471, 0.1307728380798498, 0.038993651518579836, 0.039805527291426446], "min": [-0.00029980725958012044, -0.19398266077041626, -0.8000215888023376, -0.2440148890018463, -0.02196996845304966, -0.13912110030651093, -0.2109416276216507, -0.20748978853225708, -0.32512331008911133, -0.32440832257270813, -0.24525456130504608, -0.09998591989278793, -0.10011564940214157], "max": [0.30305925011634827, 0.10149881988763809, 0.8000314235687256, 0.18503399193286896, 0.0126524418592453, 0.17202547192573547, 0.2469380497932434, 0.19879788160324097, 0.3302932679653168, 0.27864131331443787, 0.41373562812805176, 0.10001673549413681, 0.10000000894069672], "count": [1334]}, "observation.eef_pose": {"mean": [-0.8168552293556686, 1.1688163724621112, 0.946245608301177, 0.010273884519176471, 0.6020232412232452, -0.07780425776563434, -0.6342210336469639], "std": [1.6432042406720988, 1.051333550161438, 0.22103957588724224, 0.31492940070527786, 0.07468429801435551, 0.3480899463666667, 0.05698820693062012], "min": [-3.4783754348754883, -1.8189467191696167, 0.7287400960922241, -0.4996145963668823, 0.4744258522987366, -0.5010169744491577, -0.7126365303993225], "max": [1.716494083404541, 2.893214702606201, 1.3055366277694702, 0.5228238701820374, 0.7209075093269348, 0.5103227496147156, -0.4907687306404114], "count": [1334]}, "observation.environment_state": {"mean": [1.1918400526046753, 2.8883299827575684, 0.4300000071525574, 0.9999598860740662, 0.0, 0.0, -0.008956910111010075, -0.6924198382019032, 1.5287367431656353, 0.5495095136149534, 0.8117001704547716, -0.02197973054670977, 0.04815443869058447, 0.5027604573911223, -2.0669500827789307, 1.3694100379943848, 0.4300000071525574, 0.9999862313270569, 0.0, 0.0, 0.005247585941106081, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4642237819471573, 0.565239777102164, 0.03635763199891331, 0.1318217542138589, 0.029370666397872756, 0.049022516759395215, 0.2548136161614018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [1.1918400526046753, 2.8883299827575684, 0.4300000071525574, 0.9999598860740662, 0.0, 0.0, -0.008956910111010075, -2.0674567222595215, 0.7891778349876404, 0.49500006437301636, 0.6697661876678467, -0.0974658653140068, -0.0028942690696567297, -0.0011142403818666935, -2.0669500827789307, 1.3694100379943848, 0.4300000071525574, 0.9999862313270569, 0.0, 0.0, 0.005247585941106081, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "max": [1.1918400526046753, 2.8883299827575684, 0.4300000071525574, 0.9999598860740662, 0.0, 0.0, -0.008956910111010075, 1.6600697040557861, 2.8896985054016113, 0.6581502556800842, 0.9999999403953552, 0.03339426591992378, 0.11077866703271866, 0.7371143698692322, -2.0669500827789307, 1.3694100379943848, 0.4300000071525574, 0.9999862313270569, 0.0, 0.0, 0.005247585941106081, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "count": [1334]}, "action.command": {"mean": [-2.2525285556491483, -0.3425577955057392, 1.4034991434991022, 0.7254326957829145, 0.0, 0.0, 0.6882923634684815, 0.9531374106433678, -0.8251442146784167, 1.1294114899313383, 0.9515565308528443, 0.021258818035400855, 0.3222992312018127, -0.02807782388170076, -0.35178541093236215, 0.18867924528301888, -2.6405184656722422, -0.5994356928211003, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.6130782955029113, -0.5697881525626176, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.5511050883211963, -0.5124139530534514, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.4892456293711973, -0.47726721442487974, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.4444899774112727, -0.4204830702256975, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.3664749476022005, -0.38648873658465005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.286666946005185, -0.3143515673192665, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.2440554006581386, -0.2961595733253595, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.14586041464436, -0.21371765277588686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.1257709438949255, -0.20713315235765645, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -2.093013519859072, -0.19251791934046084, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.9833658770048634, -0.11052417770274257, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.9178484694930469, -0.09059568660231981, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.8775313082310872, -0.029636632532752304, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.8254441516675064, -0.009572020631278788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.7581344237775935, 0.054741887307076166, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.7439680451662143, 0.0680032773120885, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.624103798117995, 0.14288703451617094, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.56475565507724, 0.17117071977261517, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.4907197258523943, 0.23086582061750613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.3948837031706165, 0.2715701470684066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.3611470089782753, 0.31786358492801575, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.3177090795779318, 0.34838993364549803, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.2340453325414598, 0.40422530156078607, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.1982696082116384, 0.4358915523773833, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.1075643571578866, 0.4904272780485044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -1.036762385201916, 0.5343347650016581, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.9811535597112612, 0.5766111173048104, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.875321614677903, 0.6327307983153657, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.8547426767391656, 0.6627950196496414, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.8187519291834728, 0.7041847691451125, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.7284295550219743, 0.7492080323275041, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.680630125834345, 0.7967639913098482, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.601587063399779, 0.8367458439539772, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.5199013650038645, 0.8947023269939302, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.4734904732758693, 0.9267304067841934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.35965977402775534, 0.9916902486675122, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.34375174284890164, 1.0199189620823843, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.32071750477581196, 1.056797279184625, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, -0.20774301716151353, 1.0562142097359237, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9531690542322253, 0.6538512184174573, 0.9972059912269573, 0.0017313237717372792, 0.5615735346359098, -0.08804220563271752, -0.6136869173189282, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1850968456895728, 1.227074822626616, 0.7961120009422302, -0.27761751708231475, 0.5642699667027122, -0.4202646231023889, -0.6384973792025918, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1850968456895728, 1.227074822626616, 0.7961120009422302, -0.27761751708231475, 0.5642699667027122, -0.4202646231023889, -0.6384973792025918, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1850968456895728, 1.227074822626616, 0.7961120009422302, -0.27761751708231475, 0.5642699667027122, -0.4202646231023889, -0.6384973792025918, 0.0], "std": [1.3923555450413938, 1.5478661999016343, 0.4740924845546626, 0.0006909323003309322, 0.0, 0.0, 0.000727968906633037, 1.3744043715989438, 1.6432104620718424, 1.0579425061920718, 0.22067112841696124, 0.3158698208536644, 0.5105733886649373, 0.36170664099283706, 0.5289981602282079, 0.39125361044014556, 0.7727716599093678, 1.4085467813093304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.7687533658148763, 1.3813460033429508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.7716501412572236, 1.3355029589962357, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.8021738985773502, 1.3257265969942724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.7850926790995941, 1.267652713283455, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.836493080741799, 1.2721277960412312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.8424072212678454, 1.215935618052114, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.8709510459557797, 1.218990798601227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.8861157181689573, 1.1601241021417579, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.902061365753014, 1.1648049395173459, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.9232172672281607, 1.1661285974305227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.9527206192608257, 1.1167648078844443, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0021205623744558, 1.1256989375434654, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.9737408282333244, 1.055983021965519, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0079193030454334, 1.0565659107736707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0057529171355288, 0.9980304276425561, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0056283039519696, 0.9861346793684783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0496250380858219, 0.9431306230682528, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0820230663214356, 0.9354199709530386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.0929729614630446, 0.8880957965816574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.1512870039930088, 0.8833187732227724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.1332319415240344, 0.8322659414826197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.1450853114026376, 0.8114470554002856, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.1714882471926271, 0.7759205481730305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.1733751718567245, 0.748696357856075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.209241500751687, 0.7194457163448273, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.2356221776794196, 0.694546127529869, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.2469378780431366, 0.6629561971298406, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.2978514602360973, 0.6404283698132267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.2846341314211636, 0.6064667471605752, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.275025110871483, 0.56435428448544, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.3219443069742756, 0.5495641369914124, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.318131592560984, 0.5050856164805401, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.3584903302278768, 0.49124498849890746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.3801152076173553, 0.45124327460041763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.3934889953691885, 0.4299070134730512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.4426998903119272, 0.39857362033294613, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.4264613988308739, 0.36461558023642154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.4077718995639308, 0.32161744262508923, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 1.452548938478349, 0.3697424185172825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6536761710472088, 0.9453940075303986, 0.24812390050845515, 0.35295921646832173, 0.03630853320409775, 0.41596608623590214, 0.03663931237401052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0565460152725288, 0.30513885326814055, 0.0, 0.09711692737543542, 0.04554213339903521, 0.09025023168409838, 0.02398805953058249, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0565460152725288, 0.30513885326814055, 0.0, 0.09711692737543542, 0.04554213339903521, 0.09025023168409838, 0.02398805953058249, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0565460152725288, 0.30513885326814055, 0.0, 0.09711692737543542, 0.04554213339903521, 0.09025023168409838, 0.02398805953058249, 0.0], "min": [-3.607605457305908, -2.3639087677001953, 0.0599999837577343, 0.723922073841095, 0.0, 0.0, 0.6874668598175049, -1.0, -3.4764316082000732, -1.8189467191696167, 0.7287930846214294, -0.4870011508464813, -0.7100951671600342, -0.4602236747741699, -0.7071940302848816, 0.0, -3.5940184593200684, -2.33739972114563, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.5616202354431152, -2.2741899490356445, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.503221273422241, -2.1602513790130615, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.4790241718292236, -2.113041877746582, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.4131925106048584, -1.9846020936965942, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.3985989093780518, -1.9561294317245483, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.3260881900787354, -1.8146584033966064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.3186960220336914, -1.8002361059188843, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.2392122745513916, -1.6451603174209595, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.238797664642334, -1.6443513631820679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.2321438789367676, -1.6313693523406982, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.1588995456695557, -1.4884670972824097, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.1543352603912354, -1.4795621633529663, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.0790011882781982, -1.332582712173462, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -3.0690858364105225, -1.3132373094558716, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.99910306930542, -1.1766982078552246, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.9847829341888428, -1.1487590074539185, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.9192049503326416, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.899831771850586, -0.9830161929130554, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.839306592941284, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.815422534942627, -0.8183306455612183, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.7594082355499268, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.730595827102661, -0.6528304815292358, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.6795098781585693, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.6460623741149902, -0.4879026412963867, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.599611520767212, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.5613598823547363, -0.32264506816864014, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.5197131633758545, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.4767019748687744, -0.15747474133968353, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.439814567565918, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.391967535018921, 0.007844783365726471, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.359537363052368, 0.07111717015504837, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.3070335388183594, 0.17355385422706604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.277787923812866, 0.23061324656009674, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.2227845191955566, 0.3379266560077667, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.1928751468658447, 0.3962809145450592, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.1397643089294434, 0.4999020993709564, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.1038200855255127, 0.5700306296348572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4764316082000732, -1.8189467191696167, 0.7961120009422302, -0.3212110698223114, 0.4862707555294037, -0.4602236747741699, -0.7033846974372864, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9946825504302979, 0.8253085017204285, 0.7961120009422302, -0.3212110698223114, 0.5416976809501648, -0.4602236747741699, -0.7033846974372864, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9946825504302979, 0.8253085017204285, 0.7961120009422302, -0.3212110698223114, 0.5416976809501648, -0.4602236747741699, -0.7033846974372864, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9946825504302979, 0.8253085017204285, 0.7961120009422302, -0.3212110698223114, 0.5416976809501648, -0.4602236747741699, -0.7033846974372864, 0.0], "max": [1.1480170488357544, 2.089531183242798, 1.5707963705062866, 0.7262157201766968, 0.0, 0.0, 0.6898817420005798, 2.0, 1.7163724899291992, 2.8959426879882812, 1.303368091583252, 0.5235517621040344, 0.7126140594482422, 0.5099889636039734, 0.7100702524185181, 1.0, -2.0142195224761963, 0.5421322584152222, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.9900360107421875, 0.5497347116470337, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.9257150888442993, 0.569955050945282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.839117407798767, 0.5971784591674805, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.8082053661346436, 0.606896162033081, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.6885324716567993, 0.6445173621177673, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.6039313077926636, 0.671113133430481, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.5381861925125122, 0.691781222820282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.4277008771896362, 0.7265141606330872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.3946881294250488, 0.7368922829627991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.3447847366333008, 0.7525802850723267, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.6878214478492737, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.3896655738353729, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.2846033573150635, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.24729835987091064, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.1275249570608139, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, -0.03534255549311638, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.029437169432640076, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.17653243243694305, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.18639928102493286, 1.1543108224868774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.21460232138633728, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.3429507315158844, 1.1946066617965698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.38766011595726013, 1.206114649772644, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.4994122385978699, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 0.9694868326187134, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 1.303358793258667, 0.5111821889877319, 0.7073564529418945, 0.49915817379951477, -0.5030648708343506, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 0.7961120009422302, 0.09222382307052612, 0.7073564529418945, -0.06992095708847046, -0.6257643699645996, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 0.7961120009422302, 0.09222382307052612, 0.7073564529418945, -0.06992095708847046, -0.6257643699645996, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7163724899291992, 2.038482904434204, 0.7961120009422302, 0.09222382307052612, 0.7073564529418945, -0.06992095708847046, -0.6257643699645996, 0.0], "count": [1334]}, "action.applied": {"mean": [0.1360706179298047, -0.0015637693183868007, 0.008882614680050315, 0.0553871533069729, -1.4862015173621084, -0.36999296052959857, 1.431530015087914, -0.0322586691371141, 1.7559230243605652, 0.9667649842887767, -0.003309641464863313, 0.003309641464863313], "std": [0.12116870273083763, 0.00900866117694569, 0.18253983522961284, 0.09295457621385259, 0.190707114634664, 0.25938768328877004, 0.6002526145931463, 0.16905441580757763, 0.5989621811007857, 0.654255584452227, 0.01056905302989802, 0.01056905302989802], "min": [0.0, -0.06662306189537048, -0.800000011920929, -0.2689964771270752, -1.6296099424362183, -0.8393020033836365, 0.4874163269996643, -0.27997809648513794, 1.0082483291625977, -0.03494766354560852, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.023883970454335213, 0.800000011920929, 0.27342307567596436, -0.9093564748764038, 0.02774173580110073, 1.9537899494171143, 0.5775792598724365, 2.7065887451171875, 2.6031992435455322, 0.020833000540733337, 0.009999999776482582], "count": [1334]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1334]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1334]}, "sim_step_idx": {"mean": [1364.0], "std": [770.1850427007785], "min": [31.0], "max": [2697.0], "count": [1334]}, "timestamp": {"mean": [26.66000000181897], "std": [15.403700853588637], "min": [0.0], "max": [53.31999969482422], "count": [1334]}, "frame_index": {"mean": [666.5], "std": [385.09252135038923], "min": [0.0], "max": [1333.0], "count": [1334]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1334]}, "index": {"mean": [666.5], "std": [385.09252135038923], "min": [0.0], "max": [1333.0], "count": [1334]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1334]}, "next.done": {"mean": [0.0007496251874062968], "std": [0.02736901988535035], "min": [0.0], "max": [1.0], "count": [1334]}, "observation.images.head": {"mean": [[[0.5317285990965731]], [[0.47251080282932345]], [[0.4220869129199454]]], "std": [[[0.12588515795582814]], [[0.16690945529125437]], [[0.16664205420217193]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.8784313725490196]], [[0.8549019607843137]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5298482850607406]], [[0.44540493029793865]], [[0.3756813069438075]]], "std": [[[0.16648952118102742]], [[0.19406307992925023]], [[0.18601902519729738]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.9098039215686274]], [[0.8941176470588236]]], "count": [100]}}}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,571 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 2667,
+ "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": [
+      4.1472485180861955,
+      0.5592461488011383,
+      0.17000006188538985
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_B_1",
+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      7.055760126036932,
+      -1.4483793706660282,
+      0.1700001565801793
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       1.0,
+       1.0
+      ],
+      "center": [
+       5.551115123125783e-17,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "peg_rack_1",
+     "cat_name": "peg_rack",
+     "inst_id": 1,
+     "noun": "peg rack",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.000715276659491,
+      0.5512423579818592,
+      0.3700000596091504
+     ],
+     "bbox": {
+      "extent": [
+       0.07146922316557586,
+       0.07146922316557602,
+       0.03999999910593033
+      ],
+      "center": [
+       -1.0755285551056204e-16,
+       1.1102230246251565e-16,
+       0.019999999552965164
+      ]
+     }
+    },
+    {
+     "id": "hole_block_1",
+     "cat_name": "hole_block",
+     "inst_id": 1,
+     "noun": "hole block",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.955201524660716,
+      -1.497621044217426,
+      0.3700001560179714
+     ],
+     "bbox": {
+      "extent": [
+       0.07250743221100381,
+       0.07250743221100464,
+       0.04500000178813934
+      ],
+      "center": [
+       -1.734723475976807e-16,
+       0.0,
+       0.02250000089406967
+      ]
+     }
+    },
+    {
+     "id": "peg_1",
+     "cat_name": "peg",
+     "inst_id": 1,
+     "noun": "peg",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.000713516139115,
+      0.5512414289338645,
+      0.45000022888633323
+     ],
+     "bbox": {
+      "extent": [
+       0.01676500223796561,
+       0.013735631723008082,
+       0.12000095453903364
+      ],
+      "center": [
+       -5.730140475255358e-07,
+       2.0066308949965445e-08,
+       1.643743474666337e-11
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "peg_rack_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "in_front_of",
+     "object": "hole_block_1"
+    },
+    {
+     "subject": "hole_block_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "hole_block_1",
+     "relation": "behind",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "peg_1",
+     "relation": "on_top_of",
+     "object": "peg_rack_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.969067110450187,
+      -2.111253239272444,
+      -0.10499988186005023
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.8900293770910546,
+      -1.9758306490156503,
+      -0.02999988516391546
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.60759,
+       -2.36393,
+       0.06
+      ],
+      "ori": [
+       0.8673471808433533,
+       0.0,
+       0.0,
+       0.49770355224609375
+      ]
+     },
+     "facing_yaw_deg": 59.69636767489796,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 903.40621,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is in front of the peg rack. The gray table B is in front of the hole block. The hole block is on top of the gray table B. The hole block is behind the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [hole block]\n\n\n[peg]rack]\n\n\n\n\n        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N021",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0623": {
+    "frame_idx": 623,
+    "caption": "Computing a grasp pose for the small peg; the right gripper is below and to the left of and in front of the peg.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0632": {
+    "frame_idx": 632,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and in front of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0715": {
+    "frame_idx": 715,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0772": {
+    "frame_idx": 772,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_0803": {
+    "frame_idx": 803,
+    "caption": "Working on the small peg; the right gripper is below and behind the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_0804": {
+    "frame_idx": 804,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1108": {
+    "frame_idx": 1108,
+    "caption": "Done — the small peg is grasped; the right gripper is below the peg.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1109": {
+    "frame_idx": 1109,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1136": {
+    "frame_idx": 1136,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1165": {
+    "frame_idx": 1165,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2185": {
+    "frame_idx": 2185,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2207": {
+    "frame_idx": 2207,
+    "caption": "Working on the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2402": {
+    "frame_idx": 2402,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2405": {
+    "frame_idx": 2405,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,282 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1334,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                35
+            ],
+            "names": [
+                "object_pose.hole_block.0",
+                "object_pose.hole_block.1",
+                "object_pose.hole_block.2",
+                "object_pose.hole_block.3",
+                "object_pose.hole_block.4",
+                "object_pose.hole_block.5",
+                "object_pose.hole_block.6",
+                "object_pose.peg.0",
+                "object_pose.peg.1",
+                "object_pose.peg.2",
+                "object_pose.peg.3",
+                "object_pose.peg.4",
+                "object_pose.peg.5",
+                "object_pose.peg.6",
+                "object_pose.peg_rack.0",
+                "object_pose.peg_rack.1",
+                "object_pose.peg_rack.2",
+                "object_pose.peg_rack.3",
+                "object_pose.peg_rack.4",
+                "object_pose.peg_rack.5",
+                "object_pose.peg_rack.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": [
+                704
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:30:49"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/stats.json

@@ -0,0 +1,3637 @@
+{
+    "action": {
+        "mean": [
+            0.1360706179298047,
+            -0.0015637693183868007,
+            0.008882614680050315,
+            -0.8169427015211271,
+            1.1707738601285658,
+            0.943185467233901,
+            0.030755976325660565,
+            0.3255849792056534,
+            -0.01748558774880107,
+            -0.3533577040798482,
+            0.6214392803598201
+        ],
+        "std": [
+            0.12116870273083763,
+            0.00900866117694569,
+            0.18253983522961284,
+            1.642381259055475,
+            1.0539882419859852,
+            0.22051971701844406,
+            0.31406704857737294,
+            0.5110773828525307,
+            0.35889920816426,
+            0.5284259576054966,
+            0.4850283509091813
+        ],
+        "min": [
+            0.0,
+            -0.06662306189537048,
+            -0.800000011920929,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7287930846214294,
+            -0.4870011508464813,
+            -0.7100951671600342,
+            -0.4602236747741699,
+            -0.7071940302848816,
+            0.0
+        ],
+        "max": [
+            0.30000001192092896,
+            0.023883970454335213,
+            0.800000011920929,
+            1.7163724899291992,
+            2.8959426879882812,
+            1.303368091583252,
+            0.5235517621040344,
+            0.7126140594482422,
+            0.5099889636039734,
+            0.7100702524185181,
+            1.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "action_is_hold": {
+        "mean": [
+            0.015742128935532233,
+            0.015742128935532233,
+            0.015742128935532233,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.05622188905547226,
+            0.8808095952023988
+        ],
+        "std": [
+            0.12447615961343579,
+            0.12447615961343579,
+            0.12447615961343579,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.23034970858784612,
+            0.32401242599904717
+        ],
+        "min": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            0.2789770881275366,
+            -3.0515648205240984,
+            1.0045815591422513,
+            0.05505733227685896,
+            1.292506337004414e-08,
+            -1.4869357790725342,
+            -0.3689176823924129,
+            1.4300728063399288,
+            -0.03304632193535292,
+            1.7579982608690792,
+            0.9636887817511173,
+            0.007941259087817997,
+            -0.007164952743667864,
+            -0.007164952743667864,
+            -0.007941259087817997
+        ],
+        "std": [
+            1.6160837144589515,
+            0.9186881499163945,
+            0.5155507494685304,
+            0.09272602742430001,
+            2.167356447640978e-05,
+            0.1896976211925381,
+            0.25913669121277627,
+            0.601110111490771,
+            0.16771797033500854,
+            0.5993010110180804,
+            0.6529062400426252,
+            0.006791077118237929,
+            0.006794152015836721,
+            0.006794152015836721,
+            0.006791077118237929
+        ],
+        "min": [
+            -3.6075899600982666,
+            -4.530125617980957,
+            0.251928448677063,
+            -0.2671589255332947,
+            -0.0001583426637807861,
+            -1.6304517984390259,
+            -0.8375568985939026,
+            0.4903535842895508,
+            -0.2759183347225189,
+            1.0083327293395996,
+            -0.01967236027121544,
+            0.0,
+            -0.020833000540733337,
+            -0.020833000540733337,
+            -0.020833000540733337
+        ],
+        "max": [
+            2.6120941638946533,
+            -2.1952803134918213,
+            1.5186302661895752,
+            0.27128997445106506,
+            0.00037379859713837504,
+            -0.9107133150100708,
+            0.025567950680851936,
+            1.9542683362960815,
+            0.5755240321159363,
+            2.704774856567383,
+            2.5986740589141846,
+            0.020833000540733337,
+            0.0,
+            0.0,
+            -0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "observation.joint_vel": {
+        "mean": [
+            0.11667967409161394,
+            -0.03504786194060401,
+            0.008976628850368103,
+            0.004597808112436372,
+            0.0001457828963276225,
+            0.012632718301387536,
+            -0.016001153038622002,
+            0.021762889458599496,
+            0.009214271212939608,
+            -0.031905153996551146,
+            0.0439617400340382,
+            0.0051043454247134855,
+            0.006092888726997673
+        ],
+        "std": [
+            0.11218235492593172,
+            0.07464283330134512,
+            0.18190670627572975,
+            0.06814643186579972,
+            0.0010205379502324402,
+            0.06610744432826929,
+            0.07765865979698917,
+            0.09030529412678608,
+            0.08128923333198307,
+            0.1010472230958471,
+            0.1307728380798498,
+            0.038993651518579836,
+            0.039805527291426446
+        ],
+        "min": [
+            -0.00029980725958012044,
+            -0.19398266077041626,
+            -0.8000215888023376,
+            -0.2440148890018463,
+            -0.02196996845304966,
+            -0.13912110030651093,
+            -0.2109416276216507,
+            -0.20748978853225708,
+            -0.32512331008911133,
+            -0.32440832257270813,
+            -0.24525456130504608,
+            -0.09998591989278793,
+            -0.10011564940214157
+        ],
+        "max": [
+            0.30305925011634827,
+            0.10149881988763809,
+            0.8000314235687256,
+            0.18503399193286896,
+            0.0126524418592453,
+            0.17202547192573547,
+            0.2469380497932434,
+            0.19879788160324097,
+            0.3302932679653168,
+            0.27864131331443787,
+            0.41373562812805176,
+            0.10001673549413681,
+            0.10000000894069672
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "observation.eef_pose": {
+        "mean": [
+            -0.8168552293556686,
+            1.1688163724621112,
+            0.946245608301177,
+            0.010273884519176471,
+            0.6020232412232452,
+            -0.07780425776563434,
+            -0.6342210336469639
+        ],
+        "std": [
+            1.6432042406720988,
+            1.051333550161438,
+            0.22103957588724224,
+            0.31492940070527786,
+            0.07468429801435551,
+            0.3480899463666667,
+            0.05698820693062012
+        ],
+        "min": [
+            -3.4783754348754883,
+            -1.8189467191696167,
+            0.7287400960922241,
+            -0.4996145963668823,
+            0.4744258522987366,
+            -0.5010169744491577,
+            -0.7126365303993225
+        ],
+        "max": [
+            1.716494083404541,
+            2.893214702606201,
+            1.3055366277694702,
+            0.5228238701820374,
+            0.7209075093269348,
+            0.5103227496147156,
+            -0.4907687306404114
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            1.1918400526046753,
+            2.8883299827575684,
+            0.4300000071525574,
+            0.9999598860740662,
+            0.0,
+            0.0,
+            -0.008956910111010075,
+            -0.6924198382019032,
+            1.5287367431656353,
+            0.5495095136149534,
+            0.8117001704547716,
+            -0.02197973054670977,
+            0.04815443869058447,
+            0.5027604573911223,
+            -2.0669500827789307,
+            1.3694100379943848,
+            0.4300000071525574,
+            0.9999862313270569,
+            0.0,
+            0.0,
+            0.005247585941106081,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.4642237819471573,
+            0.565239777102164,
+            0.03635763199891331,
+            0.1318217542138589,
+            0.029370666397872756,
+            0.049022516759395215,
+            0.2548136161614018,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            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": [
+            1.1918400526046753,
+            2.8883299827575684,
+            0.4300000071525574,
+            0.9999598860740662,
+            0.0,
+            0.0,
+            -0.008956910111010075,
+            -2.0674567222595215,
+            0.7891778349876404,
+            0.49500006437301636,
+            0.6697661876678467,
+            -0.0974658653140068,
+            -0.0028942690696567297,
+            -0.0011142403818666935,
+            -2.0669500827789307,
+            1.3694100379943848,
+            0.4300000071525574,
+            0.9999862313270569,
+            0.0,
+            0.0,
+            0.005247585941106081,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.1918400526046753,
+            2.8883299827575684,
+            0.4300000071525574,
+            0.9999598860740662,
+            0.0,
+            0.0,
+            -0.008956910111010075,
+            1.6600697040557861,
+            2.8896985054016113,
+            0.6581502556800842,
+            0.9999999403953552,
+            0.03339426591992378,
+            0.11077866703271866,
+            0.7371143698692322,
+            -2.0669500827789307,
+            1.3694100379943848,
+            0.4300000071525574,
+            0.9999862313270569,
+            0.0,
+            0.0,
+            0.005247585941106081,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2000000476837158,
+            3.0,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "action.command": {
+        "mean": [
+            -2.2525285556491483,
+            -0.3425577955057392,
+            1.4034991434991022,
+            0.7254326957829145,
+            0.0,
+            0.0,
+            0.6882923634684815,
+            0.9531374106433678,
+            -0.8251442146784167,
+            1.1294114899313383,
+            0.9515565308528443,
+            0.021258818035400855,
+            0.3222992312018127,
+            -0.02807782388170076,
+            -0.35178541093236215,
+            0.18867924528301888,
+            -2.6405184656722422,
+            -0.5994356928211003,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.6130782955029113,
+            -0.5697881525626176,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.5511050883211963,
+            -0.5124139530534514,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.4892456293711973,
+            -0.47726721442487974,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.4444899774112727,
+            -0.4204830702256975,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.3664749476022005,
+            -0.38648873658465005,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.286666946005185,
+            -0.3143515673192665,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.2440554006581386,
+            -0.2961595733253595,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.14586041464436,
+            -0.21371765277588686,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.1257709438949255,
+            -0.20713315235765645,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -2.093013519859072,
+            -0.19251791934046084,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.9833658770048634,
+            -0.11052417770274257,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.9178484694930469,
+            -0.09059568660231981,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.8775313082310872,
+            -0.029636632532752304,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.8254441516675064,
+            -0.009572020631278788,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.7581344237775935,
+            0.054741887307076166,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.7439680451662143,
+            0.0680032773120885,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.624103798117995,
+            0.14288703451617094,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.56475565507724,
+            0.17117071977261517,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.4907197258523943,
+            0.23086582061750613,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.3948837031706165,
+            0.2715701470684066,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.3611470089782753,
+            0.31786358492801575,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.3177090795779318,
+            0.34838993364549803,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.2340453325414598,
+            0.40422530156078607,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.1982696082116384,
+            0.4358915523773833,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.1075643571578866,
+            0.4904272780485044,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -1.036762385201916,
+            0.5343347650016581,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.9811535597112612,
+            0.5766111173048104,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.875321614677903,
+            0.6327307983153657,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.8547426767391656,
+            0.6627950196496414,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.8187519291834728,
+            0.7041847691451125,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.7284295550219743,
+            0.7492080323275041,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.680630125834345,
+            0.7967639913098482,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.601587063399779,
+            0.8367458439539772,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.5199013650038645,
+            0.8947023269939302,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.4734904732758693,
+            0.9267304067841934,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.35965977402775534,
+            0.9916902486675122,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.34375174284890164,
+            1.0199189620823843,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.32071750477581196,
+            1.056797279184625,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            -0.20774301716151353,
+            1.0562142097359237,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -0.9531690542322253,
+            0.6538512184174573,
+            0.9972059912269573,
+            0.0017313237717372792,
+            0.5615735346359098,
+            -0.08804220563271752,
+            -0.6136869173189282,
+            0.0,
+            1.0209909677505493,
+            1.3691319227218628,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.1850968456895728,
+            1.227074822626616,
+            0.7961120009422302,
+            -0.27761751708231475,
+            0.5642699667027122,
+            -0.4202646231023889,
+            -0.6384973792025918,
+            0.0,
+            1.126704216003418,
+            1.396342158317566,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.1850968456895728,
+            1.227074822626616,
+            0.7961120009422302,
+            -0.27761751708231475,
+            0.5642699667027122,
+            -0.4202646231023889,
+            -0.6384973792025918,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            0.1850968456895728,
+            1.227074822626616,
+            0.7961120009422302,
+            -0.27761751708231475,
+            0.5642699667027122,
+            -0.4202646231023889,
+            -0.6384973792025918,
+            0.0
+        ],
+        "std": [
+            1.3923555450413938,
+            1.5478661999016343,
+            0.4740924845546626,
+            0.0006909323003309322,
+            0.0,
+            0.0,
+            0.000727968906633037,
+            1.3744043715989438,
+            1.6432104620718424,
+            1.0579425061920718,
+            0.22067112841696124,
+            0.3158698208536644,
+            0.5105733886649373,
+            0.36170664099283706,
+            0.5289981602282079,
+            0.39125361044014556,
+            0.7727716599093678,
+            1.4085467813093304,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.7687533658148763,
+            1.3813460033429508,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.7716501412572236,
+            1.3355029589962357,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.8021738985773502,
+            1.3257265969942724,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.7850926790995941,
+            1.267652713283455,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.836493080741799,
+            1.2721277960412312,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.8424072212678454,
+            1.215935618052114,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.8709510459557797,
+            1.218990798601227,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.8861157181689573,
+            1.1601241021417579,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.902061365753014,
+            1.1648049395173459,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.9232172672281607,
+            1.1661285974305227,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.9527206192608257,
+            1.1167648078844443,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0021205623744558,
+            1.1256989375434654,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.9737408282333244,
+            1.055983021965519,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0079193030454334,
+            1.0565659107736707,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0057529171355288,
+            0.9980304276425562,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0056283039519696,
+            0.9861346793684783,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0496250380858219,
+            0.9431306230682528,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0820230663214356,
+            0.9354199709530386,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.0929729614630446,
+            0.8880957965816574,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.1512870039930088,
+            0.8833187732227724,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.1332319415240344,
+            0.8322659414826197,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.1450853114026376,
+            0.8114470554002856,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.1714882471926271,
+            0.7759205481730305,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.1733751718567245,
+            0.748696357856075,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.209241500751687,
+            0.7194457163448273,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.2356221776794196,
+            0.694546127529869,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.2469378780431366,
+            0.6629561971298406,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.2978514602360973,
+            0.6404283698132267,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.2846341314211636,
+            0.6064667471605752,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.2750251108714827,
+            0.56435428448544,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.3219443069742756,
+            0.5495641369914124,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.318131592560984,
+            0.5050856164805401,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.3584903302278768,
+            0.49124498849890746,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.3801152076173553,
+            0.45124327460041763,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.3934889953691885,
+            0.4299070134730512,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.4426998903119272,
+            0.39857362033294613,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.4264613988308739,
+            0.36461558023642154,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.4077718995639308,
+            0.32161744262508923,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            1.452548938478349,
+            0.3697424185172825,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.6536761710472088,
+            0.9453940075303986,
+            0.24812390050845515,
+            0.35295921646832173,
+            0.03630853320409775,
+            0.41596608623590214,
+            0.03663931237401052,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.0565460152725288,
+            0.30513885326814055,
+            0.0,
+            0.09711692737543542,
+            0.04554213339903521,
+            0.09025023168409838,
+            0.02398805953058249,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.0565460152725288,
+            0.30513885326814055,
+            0.0,
+            0.09711692737543542,
+            0.04554213339903521,
+            0.09025023168409838,
+            0.02398805953058249,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.0565460152725288,
+            0.30513885326814055,
+            0.0,
+            0.09711692737543542,
+            0.04554213339903521,
+            0.09025023168409838,
+            0.02398805953058249,
+            0.0
+        ],
+        "min": [
+            -3.607605457305908,
+            -2.3639087677001953,
+            0.0599999837577343,
+            0.723922073841095,
+            0.0,
+            0.0,
+            0.6874668598175049,
+            -1.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7287930846214294,
+            -0.4870011508464813,
+            -0.7100951671600342,
+            -0.4602236747741699,
+            -0.7071940302848816,
+            0.0,
+            -3.5940184593200684,
+            -2.33739972114563,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.5616202354431152,
+            -2.2741899490356445,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.503221273422241,
+            -2.1602513790130615,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.4790241718292236,
+            -2.113041877746582,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.4131925106048584,
+            -1.9846020936965942,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.3985989093780518,
+            -1.9561294317245483,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.3260881900787354,
+            -1.8146584033966064,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.3186960220336914,
+            -1.8002361059188843,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.2392122745513916,
+            -1.6451603174209595,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.238797664642334,
+            -1.6443513631820679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.2321438789367676,
+            -1.6313693523406982,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.1588995456695557,
+            -1.4884670972824097,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.1543352603912354,
+            -1.4795621633529663,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.0790011882781982,
+            -1.332582712173462,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -3.0690858364105225,
+            -1.3132373094558716,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.99910306930542,
+            -1.1766982078552246,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.9847829341888428,
+            -1.1487590074539185,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.9192049503326416,
+            -1.0208138227462769,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.899831771850586,
+            -0.9830161929130554,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.839306592941284,
+            -0.86492919921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.815422534942627,
+            -0.8183306455612183,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.7594082355499268,
+            -0.7090446352958679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.730595827102661,
+            -0.6528304815292358,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.6795098781585693,
+            -0.5531600117683411,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.6460623741149902,
+            -0.4879026412963867,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.599611520767212,
+            -0.3972754180431366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.5613598823547363,
+            -0.32264506816864014,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.5197131633758545,
+            -0.24139083921909332,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.4767019748687744,
+            -0.15747474133968353,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.439814567565918,
+            -0.08550628274679184,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.391967535018921,
+            0.007844783365726471,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.359537363052368,
+            0.07111717015504837,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.3070335388183594,
+            0.17355385422706604,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.277787923812866,
+            0.23061324656009674,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.2227845191955566,
+            0.3379266560077667,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.1928751468658447,
+            0.3962809145450592,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.1397643089294434,
+            0.4999020993709564,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.1038200855255127,
+            0.5700306296348572,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.057725429534912,
+            0.659963071346283,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            -2.0,
+            0.6000000238418579,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.4764316082000732,
+            -1.8189467191696167,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.4862707555294037,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            1.0209909677505493,
+            1.3691319227218628,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9946825504302979,
+            0.8253085017204285,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.5416976809501648,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            1.126704216003418,
+            1.396342158317566,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9946825504302979,
+            0.8253085017204285,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.5416976809501648,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9946825504302979,
+            0.8253085017204285,
+            0.7961120009422302,
+            -0.3212110698223114,
+            0.5416976809501648,
+            -0.4602236747741699,
+            -0.7033846974372864,
+            0.0
+        ],
+        "max": [
+            1.1480170488357544,
+            2.089531183242798,
+            1.5707963705062866,
+            0.7262157201766968,
+            0.0,
+            0.0,
+            0.6898817420005798,
+            2.0,
+            1.7163724899291992,
+            2.8959426879882812,
+            1.303368091583252,
+            0.5235517621040344,
+            0.7126140594482422,
+            0.5099889636039734,
+            0.7100702524185181,
+            1.0,
+            -2.0142195224761963,
+            0.5421322584152222,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.9900360107421875,
+            0.5497347116470337,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.9257150888442993,
+            0.569955050945282,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.839117407798767,
+            0.5971784591674805,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.8082053661346436,
+            0.606896162033081,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.6885324716567993,
+            0.6445173621177673,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.6039313077926636,
+            0.671113133430481,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.5381861925125122,
+            0.691781222820282,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.4277008771896362,
+            0.7265141606330872,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.3946881294250488,
+            0.7368922829627991,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.3447847366333008,
+            0.7525802850723267,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.2112258672714233,
+            0.7945667505264282,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.1056718826293945,
+            0.8217359781265259,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.088355302810669,
+            0.8261932134628296,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -1.0085679292678833,
+            0.8467302322387695,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.9430139660835266,
+            0.8636035919189453,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.9289485812187195,
+            0.8672239780426025,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.7734268307685852,
+            0.9072547554969788,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.6878214478492737,
+            0.9292892813682556,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.6049110889434814,
+            0.9506301283836365,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.4618139863014221,
+            0.9874628782272339,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.44271016120910645,
+            0.9923801422119141,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.3896655738353729,
+            1.0060336589813232,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.2846033573150635,
+            1.033076286315918,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.24729835987091064,
+            1.0426784753799438,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.1275249570608139,
+            1.0735077857971191,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            -0.03534255549311638,
+            1.0972352027893066,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.029437169432640076,
+            1.1139092445373535,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.17653243243694305,
+            1.151771068572998,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.18639928102493286,
+            1.1543108224868774,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.21460232138633728,
+            1.1615701913833618,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.3429507315158844,
+            1.1946066617965698,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.38766011595726013,
+            1.206114649772644,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.4994122385978699,
+            1.2348792552947998,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.5986239910125732,
+            1.260416030883789,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.6558737754821777,
+            1.2751519680023193,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.809587836265564,
+            1.314717411994934,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.8123352527618408,
+            1.3154245615005493,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.8202224373817444,
+            1.3174546957015991,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            0.9694868326187134,
+            1.3558748960494995,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            1.303358793258667,
+            0.5111821889877319,
+            0.7073564529418945,
+            0.49915817379951477,
+            -0.5030648708343506,
+            0.0,
+            1.0209909677505493,
+            1.3691319227218628,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            0.7961120009422302,
+            0.09222382307052612,
+            0.7073564529418945,
+            -0.06992095708847046,
+            -0.6257643699645996,
+            0.0,
+            1.126704216003418,
+            1.396342158317566,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            0.7961120009422302,
+            0.09222382307052612,
+            0.7073564529418945,
+            -0.06992095708847046,
+            -0.6257643699645996,
+            0.0,
+            1.2000000476837158,
+            1.4500000476837158,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            1.7163724899291992,
+            2.038482904434204,
+            0.7961120009422302,
+            0.09222382307052612,
+            0.7073564529418945,
+            -0.06992095708847046,
+            -0.6257643699645996,
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "action.applied": {
+        "mean": [
+            0.1360706179298047,
+            -0.0015637693183868007,
+            0.008882614680050315,
+            0.0553871533069729,
+            -1.4862015173621084,
+            -0.36999296052959857,
+            1.431530015087914,
+            -0.0322586691371141,
+            1.7559230243605652,
+            0.9667649842887767,
+            -0.003309641464863313,
+            0.003309641464863313
+        ],
+        "std": [
+            0.12116870273083763,
+            0.00900866117694569,
+            0.18253983522961284,
+            0.09295457621385259,
+            0.190707114634664,
+            0.25938768328877004,
+            0.6002526145931463,
+            0.16905441580757763,
+            0.5989621811007857,
+            0.654255584452227,
+            0.01056905302989802,
+            0.01056905302989802
+        ],
+        "min": [
+            0.0,
+            -0.06662306189537048,
+            -0.800000011920929,
+            -0.2689964771270752,
+            -1.6296099424362183,
+            -0.8393020033836365,
+            0.4874163269996643,
+            -0.27997809648513794,
+            1.0082483291625977,
+            -0.03494766354560852,
+            -0.009999999776482582,
+            -0.020833000540733337
+        ],
+        "max": [
+            0.30000001192092896,
+            0.023883970454335213,
+            0.800000011920929,
+            0.27342307567596436,
+            -0.9093564748764038,
+            0.02774173580110073,
+            1.9537899494171143,
+            0.5775792598724365,
+            2.7065887451171875,
+            2.6031992435455322,
+            0.020833000540733337,
+            0.009999999776482582
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "extra.reward": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "next.truncated": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "sim_step_idx": {
+        "mean": [
+            1364.0
+        ],
+        "std": [
+            770.1850427007785
+        ],
+        "min": [
+            31.0
+        ],
+        "max": [
+            2697.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            26.66000000181897
+        ],
+        "std": [
+            15.403700853588637
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            53.31999969482422
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            666.5
+        ],
+        "std": [
+            385.09252135038923
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1333.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "index": {
+        "mean": [
+            666.5
+        ],
+        "std": [
+            385.09252135038923
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1333.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "next.done": {
+        "mean": [
+            0.0007496251874062968
+        ],
+        "std": [
+            0.02736901988535035
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "count": [
+            1334
+        ]
+    },
+    "observation.images.head": {
+        "mean": [
+            [
+                [
+                    0.5317285990965731
+                ]
+            ],
+            [
+                [
+                    0.47251080282932345
+                ]
+            ],
+            [
+                [
+                    0.4220869129199454
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.12588515795582814
+                ]
+            ],
+            [
+                [
+                    0.16690945529125437
+                ]
+            ],
+            [
+                [
+                    0.16664205420217193
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9019607843137255
+                ]
+            ],
+            [
+                [
+                    0.8784313725490196
+                ]
+            ],
+            [
+                [
+                    0.8549019607843137
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    },
+    "observation.images.wrist": {
+        "mean": [
+            [
+                [
+                    0.5298482850607406
+                ]
+            ],
+            [
+                [
+                    0.44540493029793865
+                ]
+            ],
+            [
+                [
+                    0.3756813069438075
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.16648952118102742
+                ]
+            ],
+            [
+                [
+                    0.19406307992925023
+                ]
+            ],
+            [
+                [
+                    0.18601902519729738
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9215686274509803
+                ]
+            ],
+            [
+                [
+                    0.9098039215686274
+                ]
+            ],
+            [
+                [
+                    0.8941176470588236
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole."}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1a9fa5f14777b2102aea33e0f259e925759ad2e373e7b5cdd377846568e64b
+size 13409007

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e3db42c646c4c158721bf59da4bdfb85fc8255b0092b88ecf6c81fda42cf5a
+size 23057417

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/run_meta.json

@@ -0,0 +1,899 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-07 21:18:35",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n021_saw_off_1040/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobilePegInsertionEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1040,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.60759,
+                                -2.36393,
+                                0.06
+                            ],
+                            [
+                                -3.60759,
+                                -2.36393,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                59.69637
+                            ],
+                            [
+                                0,
+                                0,
+                                59.69637
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        903.40621,
+                        903.40621
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_B": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                3.0,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_B_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.62,
+                                    0.72,
+                                    0.78
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "peg_rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/peg_rack_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.06695,
+                                1.36941,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                0.60107
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "peg_rack_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hole_block": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/hole_block_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.19184,
+                                2.88833,
+                                0.43
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -1.02658
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hole_block_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "peg": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/peg_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.06695,
+                                1.36941,
+                                0.511
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                90.60107
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "peg_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.03843,
+                                "physics_material": {
+                                    "static_friction": 1.08824,
+                                    "dynamic_friction": 1.08824,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                },
+                "B": {
+                    "center": [
+                        1.2,
+                        2.1
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_B"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.7,
+                    0.8,
+                    0.65,
+                    0.9
+                ],
+                "radii_B": [
+                    0.7,
+                    0.8,
+                    0.65,
+                    0.9
+                ],
+                "bearings_deg": [
+                    0.0,
+                    -25.0,
+                    25.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0
+                ],
+                "include_current": true
+            },
+            "assembly": {
+                "part": {
+                    "name": "peg",
+                    "id": 0
+                },
+                "rack": {
+                    "name": "peg_rack"
+                },
+                "fixture": {
+                    "name": "hole_block",
+                    "id": 0
+                },
+                "support_z": 0.47,
+                "part_half_height": 0.06,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "depth_required": 0.03,
+                "lateral_max": 0.004,
+                "axis_max_deg": 10.0,
+                "pre_height": 0.06,
+                "align_height": 0.015,
+                "insert_depth": 0.036,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 20.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "peg",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "hole_block",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "peg",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "hole_block",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp"
+                        },
+                        {
+                            "name": "carry",
+                            "type": "carry"
+                        },
+                        {
+                            "name": "nav_B",
+                            "type": "nav",
+                            "goal": [
+                                1.2,
+                                1.45,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_B",
+                            "type": "stance",
+                            "target": "fixture"
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.15,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.03,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.2,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": []
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.62,
+                        0.0,
+                        0.5
+                    ],
+                    "planner_mode": 1
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n021_saw_off_1040/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "peg",
+                "hole_block"
+            ]
+        }
+    },
+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a520d812184c7aa71209b84fc0ea9c66cfdd6c5c1c202dc1eea567383b4ee6
+size 420613

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,353 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    3.0,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "peg_rack": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/peg_rack_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.06695,
+                                    1.36941,
+                                    0.43
+                                ],
+                                "ori": [
+                                    0.9999862313270569,
+                                    0.0,
+                                    0.0,
+                                    0.005245301406830549
+                                ],
+                                "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": {}
+                        }
+                    ],
+                    "hole_block": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/hole_block_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    1.19184,
+                                    2.88833,
+                                    0.43
+                                ],
+                                "ori": [
+                                    0.9999598860740662,
+                                    0.0,
+                                    0.0,
+                                    -0.008958480320870876
+                                ],
+                                "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": {}
+                        }
+                    ],
+                    "peg": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Object/MobileAssembly/peg_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.0669496059417725,
+                                    1.3694075345993042,
+                                    0.5100002884864807
+                                ],
+                                "ori": [
+                                    0.7033874988555908,
+                                    1.4964898582547903e-05,
+                                    -1.1242113032494672e-05,
+                                    0.7108065485954285
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.03843,
+                                    "physics_material": {
+                                        "static_friction": 1.08824,
+                                        "dynamic_friction": 1.08824,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.0004631493065971881,
+                                    0.001624648692086339,
+                                    -0.00014656534767709672
+                                ],
+                                "angular_velocity": [
+                                    -0.0260099396109581,
+                                    0.008226068690419197,
+                                    0.008062167093157768
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 903.40621,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.6075899600982666,
+                        -2.3639299869537354,
+                        0.05999999865889549,
+                        0.8673471808433533,
+                        0.0,
+                        0.0,
+                        0.49770355224609375
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0523f94de1312c8b49e02c6cb34eebff4c9428258b7186769c3c5a2be3fae23
+size 390493

N021/sawyer_umi/dr_off/seed_1040/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:31:15"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}