add N052/stretch3/dr_on/seed_6011

N052/stretch3/dr_on/seed_6011/rec/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', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "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', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1886 rows vs ceil(3772/2) = 1886"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..3831, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "68.66 MB, 1886 frames at 25 fps, mean luma 69..153, std 27, new picture 1885x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1886 vs 1886"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "35.07 MB, 1886 frames at 25 fps, mean luma 75..139, std 35, new picture 1885x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1886 vs 1886"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N052/stretch3/dr_on/seed_6011/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n052_str_on_6011/out/rec  task=N052  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n052_str_on_6011/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1886  videos 2  robot_type HelloRobotCfg
+[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: 1886 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', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[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', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
+rows 1886 at dataset fps 25 = 75.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1886 rows vs ceil(3772/2) = 1886
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3831, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 68.66 MB, 1886 frames at 25 fps, mean luma 69..153, std 27, new picture 1885x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1886 vs 1886
+[PASS] video observation.images.wrist decodes, 640x480, not black: 35.07 MB, 1886 frames at 25 fps, mean luma 75..139, std 35, new picture 1885x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1886 vs 1886
+parquet size 4.10 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 108.11 MB; whole cell dir 109.6 MB
+RESULT: ALL PASS

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/completed/0.json

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

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149bccc12964b644085c29aa9bebfc6fa1b6b66b17be75a8898215d6c2b276a6
+size 4102535

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1886, "magicsim/control_steps": 3772, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height."}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.07529045367259868, 8.206719839757788e-05, 0.16468586988820202, 0.01811348704556013, 0.41915885089627, 0.6563718954806363, -0.41108887321086396, -0.002929811524386276, 0.024919530705217494, -0.24744434596790113, 0.12407211028632026], "std": [0.1419425051826829, 0.0006979446932575714, 0.2656145621819325, 0.8194965464902141, 1.0958984511946437, 0.0342114408923436, 0.590914763115846, 0.03196129016794965, 0.30809099963925163, 0.5692324787502517, 0.3296638010692396], "min": [-0.30000001192092896, 0.0, -0.22029075026512146, -2.820234775543213, -2.6801092624664307, 0.46102118492126465, -0.9999998211860657, -0.08769456297159195, -0.7069098949432373, -0.9999998807907104, 0.0], "max": [0.30000001192092896, 0.010234109126031399, 0.800000011920929, 1.3302812576293945, 1.9822291135787964, 0.6697565913200378, 0.9999994039535522, 0.07519818097352982, 0.7067866325378418, 0.9949944615364075, 1.0], "count": [1886]}, "action_is_hold": {"mean": [0.12301166489925769, 0.12301166489925769, 0.12301166489925769, 0.1378579003181336, 0.1378579003181336, 0.1378579003181336, 0.1378579003181336, 0.1378579003181336, 0.1378579003181336, 0.1378579003181336, 0.9893955461293743], "std": [0.32845059780425634, 0.32845059780425634, 0.32845059780425634, 0.34475077902452456, 0.34475077902452456, 0.34475077902452456, 0.34475077902452456, 0.34475077902452456, 0.34475077902452456, 0.34475077902452456, 0.10243046142984659], "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": [1886]}, "observation.state": {"mean": [-0.032164929886985556, 0.4964926414989717, 0.5255225469587258, 0.5365944023887022, -3.3952929130231537e-07, 4.38694952026393e-08, 0.03903132740878288, 0.03903021622737544, 0.039029212593479225, 0.03903465394981498, 1.2877848138087078, -0.27449078178848524, -0.2806022009442208, 0.0300221304407155, 0.030157453255435427], "std": [0.8859122665273115, 1.1823239721245553, 1.6297775635486518, 0.07503891428449007, 4.604438880860793e-06, 1.0044643734151704e-05, 0.027181833052671786, 0.027182016028239026, 0.027182250384202664, 0.02718401924069045, 0.5846048057925836, 0.5425035539606777, 0.5791304228162476, 0.07555480597970815, 0.07555585723287729], "min": [-3.112403154373169, -2.489500045776367, -3.1411190032958984, 0.4999939203262329, -5.896049697184935e-05, -0.00013212468184065074, 0.022361084818840027, 0.022266244515776634, 0.022136356681585312, 0.023050745949149132, -0.09881178289651871, -1.4397990703582764, -1.6194777488708496, -1.5871034486636404e-09, -6.750751624373663e-10], "max": [1.0646188259124756, 1.7087229490280151, 3.1390464305877686, 0.7167035937309265, 8.652561518829316e-05, 0.0001374731946270913, 0.1008540466427803, 0.10085434466600418, 0.10085450857877731, 0.10084869712591171, 1.5734564065933228, 0.00038192590000107884, 1.7885522538563237e-05, 0.25, 0.2500000298023224], "count": [1886]}, "observation.joint_vel": {"mean": [0.05514296527097817, 0.04501291657428506, 0.1650044219567661, 0.00034310803685411455, -3.970109367249399e-05, -2.3469672447277105e-06, 0.0007597552947514043, 0.0007614315417754745, 0.0007601948244546779, 0.0007717920292775036, -0.018564304515714922, -0.016571166314290755, -0.017414969663469712, 0.03445853822291073, 0.05444133525625206], "std": [0.1215092276133067, 0.07752005317456907, 0.2654705688243472, 0.02745018209861426, 0.00012709499097296893, 0.00010109531270913809, 0.008947768315329199, 0.008957722971869022, 0.008968786230226716, 0.008766442594431217, 0.07312442410508298, 0.09471588034051563, 0.07051244720144692, 0.11464410917529375, 0.16130738985514453], "min": [-0.2827650308609009, -0.07124639302492142, -0.22873379290103912, -0.11208190023899078, -0.0008650744566693902, -0.00138106441590935, -0.038694314658641815, -0.03882370516657829, -0.038945019245147705, -0.03621884807944298, -0.34828242659568787, -0.7452741265296936, -0.3562430441379547, -1.0000008344650269, -1.0000003576278687], "max": [0.29999977350234985, 0.29993927478790283, 0.7999914884567261, 0.14828689396381378, 0.00058898696443066, 0.0013273308286443353, 0.0852617621421814, 0.08527902513742447, 0.08529086410999298, 0.08500716090202332, 0.26345688104629517, 0.046917714178562164, 0.1649317890405655, 1.0000005960464478, 1.0000003576278687], "count": [1886]}, "observation.eef_pose": {"mean": [0.016314806134172362, 0.41951425048035756, 0.6566848975792923, -0.6285941152497103, 0.014445273912352423, -0.13883019609572209, -0.23188114156547557], "std": [0.8189862861238038, 1.0963432729341436, 0.033693216402841286, 0.3521612870563124, 0.028606282525393902, 0.2744444975463832, 0.5757276370892557], "min": [-2.820234775543213, -2.6801092624664307, 0.4605564773082733, -1.0, -0.00012970002717338502, -0.7067886590957642, -0.9999998807907104], "max": [1.3307671546936035, 1.9828234910964966, 0.6698573231697083, 0.09563307464122772, 0.08803881704807281, 0.00014752910647075623, 0.9950093030929565], "count": [1886]}, "observation.environment_state": {"mean": [-0.006018529163647842, -0.003586731706661975, 0.019605441085541422, 0.017731324663202545, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.13307016480354592, 1.1041072750521363, 0.5056148072979231, 0.9999946949021814, -0.000501135798722285, 0.00048113004924583915, 0.000574565546540284, -0.12001451445409628, 1.0999779322620162, 0.49383175317770855, 0.9999990716086719, -0.0006539680768697684, 0.0011733128679476774, -0.00020765104955926755, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "std": [0.010314019261444547, 0.0068824101495718, 0.022433897756985066, 0.0138724910679996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04443434352630812, 0.013584463647027614, 0.032896719865563126, 2.7441453843942764e-05, 0.00014889491077791164, 0.0012623245193228367, 0.002855321664784923, 7.799575183285508e-06, 1.2633038463565955e-05, 0.010314751672755635, 5.8401958445932693e-08, 4.003930621606968e-05, 3.240652246025342e-05, 0.00012382260342429113, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [-0.058024898171424866, -0.038800615817308426, -0.23930667340755463, -0.1406995952129364, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.11999928951263428, 1.0996025800704956, 0.43853452801704407, 0.9997554421424866, -0.0011916253715753555, -0.00646352581679821, -0.008235202170908451, -0.1200224757194519, 1.0999641418457031, 0.4418357312679291, 0.999998927116394, -0.0007449667900800705, 0.0003904998302459717, -0.00033921562135219574, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "max": [-0.0039164284244179726, -0.0014652733225375414, 0.6967160105705261, 0.46114927530288696, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.3100000023841858, 1.149999976158142, 0.43299999833106995, 1.0, 0.0, 0.0, 0.0, 0.30409976840019226, 1.1548250913619995, 0.6176490187644958, 0.9999999403953552, 0.0005286718369461596, 0.000904737098608166, 0.02155049704015255, -0.11998847126960754, 1.1000086069107056, 0.49593400955200195, 0.9999999403953552, 8.422322571277618e-05, 0.001208963803946972, 7.876381278038025e-05, -0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.4699999988079071, 0.44999998807907104, 0.7300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 0.44999998807907104, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0499999523162842, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.5, 0.75, 0.8299999833106995, 1.0, 0.0, 0.0, 0.0, 0.0, 0.75, 1.2300000190734863, 1.0, 0.0, 0.0, 0.0, 0.0, 1.100000023841858, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0], "count": [1886]}, "action.command": {"mean": [-1.0743449954343411, -0.6802623832488761, 0.22375915507950328, 0.9997007216038726, -7.620690004301241e-09, -2.7464767871027316e-08, 0.0172150727103552, 1.2349323493234932, 0.04966814057193559, 0.43936152875350115, 0.6572918999678974, -0.4509512989408674, -0.004954094965061636, 0.043679859090329155, -0.15757430179964096, 0.5, -1.2929121620802368, -1.136614785659911, 0.26130847888118147, 0.0, 0.0, 0.0, 0.0, 2.0, -0.040241204759166656, 0.11400077824227728, 0.6697505960992899, -0.659999734836471, -2.39552971155479e-06, 3.2984873225700238e-06, -0.218304322975161, 0.0, -1.2576775295281473, -1.134827808738279, 0.2603949042415556, 0.0, 0.0, 0.0, 0.0, 2.0, -0.040241204759166656, 0.11400077824227728, 0.6697505960992899, -0.659999734836471, -2.39552971155479e-06, 3.2984873225700238e-06, -0.218304322975161, 0.0, -1.21875094807819, -1.1338790122521165, 0.2612089664595842, 0.0, 0.0, 0.0, 0.0, 2.0, -0.040241204759166656, 0.11400077824227728, 0.6697505960992899, -0.659999734836471, -2.39552971155479e-06, 3.2984873225700238e-06, -0.218304322975161, 0.0, -1.1538803958871835, -1.1120779246196781, 0.2614383578438207, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -1.0924796364466909, -1.093287680481731, 0.2614383807989546, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -1.0490024595088523, -1.0868327994896492, 0.26143892011342856, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.99979229313387, -1.0764993175234594, 0.261438565240176, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.9449148115137933, -1.0614884341214323, 0.20822122268063922, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.9159013242788718, -1.0531103691532158, 0.5499555344732714, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.8739856670964772, -1.026195002667291, 0.5499540404219863, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.8184377026390022, -0.9894515026465688, 0.5499563184632382, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.8024895220575198, -0.9807664125659307, 0.5499543368186749, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.7550647097154403, -0.9558644716457372, 0.5499544625341053, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.7124394953880512, -0.9256366792882622, 0.5499543726549182, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.6752706491191622, -0.9007291772048658, 0.5499551221203636, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.61173240934879, -0.8649879649976714, 0.9320492754939577, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.5821830394192481, -0.8258929381632364, 0.9320482026103517, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.5510529834829586, -0.7828444388078551, 0.08627687908813987, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.5097772225107945, -0.7842895241559181, 0.9692236668836902, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.4813917865845519, -0.7545927199469485, 0.9692237925991206, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.4346486298551022, -0.6956887842011703, 0.9692236235443975, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.4158799736432626, -0.6494371923814777, 0.9692287340130604, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.40985547425881236, -0.6375816453930357, 0.9692240375238406, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.3660957929743847, -0.5846375778947078, 0.969223460681002, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.3331734773138879, -0.5387023497425335, 0.9692227389191238, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.3138118616082299, -0.5135376063555899, 0.9692238554568358, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.27594237554241235, -0.4544864228703606, 1.0065793686769378, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.25112019227424137, -0.409193499040016, 1.1455170657013503, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.2421203423553789, -0.4011765992872312, 1.1455328091979027, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.2136499520758508, -0.34508127278425327, 1.1455332922263883, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.17988844131919698, -0.28822918844894624, 1.145534458609534, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.17523686252009701, -0.26548100126461244, 1.1455333535100374, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.16806062846116618, -0.23146647582171667, 1.14553193013433, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.136282688085462, -0.18093270535620165, 1.1455321310901305, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.11502182945399217, -0.13374768764200345, 1.1455333733432729, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.09747400082332987, -0.09687179505405291, 1.1455335179474992, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.0721616956969382, -0.06573208190605674, 1.1455328401545404, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.05900286872621993, -0.01597854904305767, 1.4809262437719695, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.06867874697060652, 0.018346630771395186, 1.2984134846589934, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.040539673306572606, 0.04101053572876353, 1.29843185758087, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.019644597256687324, 0.10538137189938988, 1.298430565482294, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.019051680682410657, 0.13527328804345198, 1.2984317578900029, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.01642859244430569, 0.17271569979862428, 1.298431763766517, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.0018693885542977024, 0.24946018717658353, 1.2984310416898257, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.014638068705377445, 0.2649564824893441, 1.2984315126504697, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.03188371899682031, 0.28292845651297505, 1.298432052345343, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.049042027601054014, 0.35930597509296847, 1.298432754903612, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.04994712119371119, 0.39427884447742517, 2.0323046058626244, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.014588963712604952, 0.40175906180495946, 1.7200529833494778, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.038460485952001223, 0.4299408900485912, 1.7200524309571361, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.05019610952323591, 0.46211988772724716, 1.7200521553905916, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.05360836630136195, 0.4713690988194775, 1.7200524684199145, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.025070538088469436, 0.5111768658102398, 1.720052481432196, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.019376138985996515, 0.5500461201012974, 1.720053334786019, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.00884229710824053, 0.5800537113362635, 1.7200528576340475, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.00844154800747482, 0.6110632845633467, 1.7200520544404714, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.016725302686993505, 0.6519893001712543, 1.720053484951946, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.005410208143818546, 0.674097340921281, 1.6422696999261077, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.03092058921154116, 0.7033405619817721, -1.4815465539274082, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.01494952574582167, 0.7262821166028439, -1.4815481231665948, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, 0.001138321792995426, 0.7443475327651266, -1.4815467044081487, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.041511144436581035, 0.746004861425346, -1.481547558391598, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.043176179515643856, 0.7553531045854931, -1.4815462526511138, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.07097092360048227, 0.7656432052313442, -1.481546491069693, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.07930557424543609, 0.7740643937403048, -1.4815465790075315, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.09968681116654, 0.786013277483658, -1.4815470183819113, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.10029175163994372, 0.8044976822402276, -1.4815465663100633, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.12784808977756282, 0.8068300086847493, -0.497029025579842, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.1203989291917795, 0.8079351816378849, -0.9967228685256461, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.09814363927908347, 0.818308680200241, 0.2723827054592925, 0.0, 0.0, 0.0, 0.0, 2.0, -0.04051540325015363, 0.11286667897038057, 0.6697505908218068, -0.6597007023795759, -2.396773351705806e-06, 3.28337806415691e-06, -0.21851803159872463, 0.0, -0.1443638950586319, -0.2456110417842865, 0.647335946559906, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8521506556516287, -0.985033163995673, 0.6697511126805549, -0.8418448851151571, -3.952386346366336e-06, 3.905074272390425e-06, -0.41794148023594874, 0.0, -0.1403542309999466, -0.24257969856262207, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8521506556516287, -0.985033163995673, 0.6697511126805549, -0.8418448851151571, -3.952386346366336e-06, 3.905074272390425e-06, -0.41794148023594874, 0.0, -0.13690277934074402, -0.2399703711271286, 0.6473362445831299, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8521506556516287, -0.985033163995673, 0.6697511126805549, -0.8418448851151571, -3.952386346366336e-06, 3.905074272390425e-06, -0.41794148023594874, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8521506556516287, -0.985033163995673, 0.6697511126805549, -0.8418448851151571, -3.952386346366336e-06, 3.905074272390425e-06, -0.41794148023594874, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8521506556516287, -0.985033163995673, 0.6697511126805549, -0.8418448851151571, -3.952386346366336e-06, 3.905074272390425e-06, -0.41794148023594874, 0.0], "std": [1.5031378279724377, 1.4775219816459089, 0.3125926753104443, 0.0003163614746116379, 7.06910238186843e-09, 2.5445259626122923e-08, 0.01737528154313579, 1.1981576269382967, 0.8749553559169144, 1.166531455021346, 0.030025496480558727, 0.6159193581286255, 0.03247159620329326, 0.31379902276519595, 0.53944388827273, 0.5, 1.5402112524941294, 1.1463690092668972, 0.32878522999694526, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0310103106758306, 1.2597209046237086, 4.803899650414041e-07, 0.3378058187240604, 3.7067188350422354e-06, 2.278659122715322e-06, 0.6345317862088578, 0.0, 1.5638269956144033, 1.1430735852097424, 0.33066189901553594, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0310103106758306, 1.2597209046237086, 4.803899650414041e-07, 0.3378058187240604, 3.7067188350422354e-06, 2.278659122715322e-06, 0.6345317862088578, 0.0, 1.5925483079244194, 1.1405201128235958, 0.32885351495343484, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0310103106758306, 1.2597209046237086, 4.803899650414041e-07, 0.3378058187240604, 3.7067188350422354e-06, 2.278659122715322e-06, 0.6345317862088578, 0.0, 1.5823707665888251, 1.108274652614988, 0.3289060476093339, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5825533391284567, 1.0848638550603111, 0.3289056724300482, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6005891784591084, 1.0759858404863913, 0.32890683842841933, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6130896078911308, 1.0625346331790777, 0.32890612485212795, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6179137367151333, 1.0436149817974347, 0.37426451063092653, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6155364830557097, 1.030263425051089, 0.08300078102726526, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6072583948729933, 1.019936637273091, 0.0829994127263405, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.587080649642072, 1.0002064294351793, 0.08300128126631179, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.597261279340586, 1.0050291494977854, 0.08299951571673143, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6354585325685673, 1.0245723488527687, 0.08299910375516288, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6025607823893604, 0.9979991356705076, 0.08299994239121324, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.586306456150741, 0.9829897021198059, 0.08300047205608639, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6171027903666961, 0.995793340783884, 0.24266496171168442, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.606445344577974, 1.0020170832908413, 0.24266496171168442, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5978866075763922, 1.012178606432467, 0.4782011344534693, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.6101979907870252, 0.9936579876473101, 0.2743493673669945, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.585964027809461, 0.9823574661712184, 0.2743497793285613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.557069661305682, 0.9805983976282832, 0.2743503972709143, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5703526558765997, 1.0179677110930452, 0.27434510062217105, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5713232961847197, 1.024924189780257, 0.27435019129012983, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5418504767864651, 1.019570572636788, 0.27435086808413817, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5263969449862138, 1.0258251791573771, 0.27435045612257236, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5152720110942233, 1.026387168301996, 0.2743499853093486, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.5043378154086497, 1.0440495350445822, 0.30618861172057654, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.4972370692512418, 1.0612907887861953, 0.4246081417481956, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.4868415721687211, 1.0544654977893333, 0.42462211901572156, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.4581040747452625, 1.0622055641629744, 0.42462197188659573, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.422720872143151, 1.0621569821236605, 0.42462088313101043, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.4198589162719648, 1.0763846634238747, 0.42461938241387076, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.4152979720388166, 1.0973035716560882, 0.4246209125568354, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.38159180613225, 1.0944157799093914, 0.42462123624092274, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.3608461865914299, 1.1052488684556325, 0.4246211773892819, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.3434443414024528, 1.1122156976772561, 0.42462170705414426, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.3153661590442804, 1.1012189721106815, 0.42462138337005795, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.3052997604036525, 1.1275354302451106, 0.7104841055369253, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.2831834858712892, 1.1463060177468996, 0.5549244156672528, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.249672295490132, 1.1221564186135082, 0.5549393639870536, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.2078145283154673, 1.131911903972842, 0.554940040781052, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.1966067607222732, 1.1485340824667183, 0.5549405998717568, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.1808692108460266, 1.1668589569767438, 0.5549398936519281, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.140317244141602, 1.1922305518269432, 0.5549389225996486, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.1198725331010735, 1.1793451590216992, 0.5549396288194909, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.0978770810117258, 1.166921810541818, 0.5549398348002731, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.055108201975634, 1.1886298311593662, 0.554939569967829, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.0418043150679688, 1.2077966962646836, 1.1804318253631174, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 1.0026689959216792, 1.2073689036011477, 0.9142944999115581, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.9610125308250671, 1.1845142173822947, 0.9142940290983207, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.915855775406209, 1.170240013850615, 0.9142949118731464, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.902870275939723, 1.1661074213716744, 0.9142937054142638, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.8536877437915942, 1.181242389175848, 0.9142945293373711, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.8022251220626887, 1.1791343524017006, 0.9142946470407014, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.7634474444098822, 1.1821816027013876, 0.9142940879500014, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.7217484001425388, 1.1773449090495038, 0.9142939113950322, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.6653473891058291, 1.1642494452699057, 0.9142939113950322, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.6390080965301597, 1.1774429559029085, 0.8479961710324668, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.6123951879081481, 1.1986856659282872, 1.8144823763725386, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.5593684805181263, 1.1678593173694842, 1.8144836122572363, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.5218685163843526, 1.1445400856299475, 1.8144821998175518, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.46494477025538533, 1.1303993576466, 1.8144834357022999, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.43343126979952185, 1.1156153810992044, 1.8144821703917209, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.3672745527097793, 1.0922804948200644, 1.8144821703917209, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.33060182211936595, 1.0771035952133352, 1.8144823469467075, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.2681971406527614, 1.0532421337715956, 1.8144826706308343, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.20914217755492948, 1.0247403813559515, 1.814482082114296, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.16838273302711354, 1.0136699293814342, 0.975360622606721, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.16155322126326313, 1.0046487949445775, 1.4012589985630586, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.11514926138999655, 0.9640680497819522, 0.319579216538494, 0.0, 0.0, 0.0, 0.0, 0.0, 1.031422561033625, 1.2596949177195849, 4.4644163938089693e-07, 0.3378040135054868, 3.7081128427509027e-06, 2.2220019567416447e-06, 0.6347701061718225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9888337596733813, 0.8730131918187122, 1.694947240496898e-08, 0.25396448743806416, 8.760381487687096e-07, 1.848550170434569e-06, 0.22830656846831834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9888337596733813, 0.8730131918187122, 1.694947240496898e-08, 0.25396448743806416, 8.760381487687096e-07, 1.848550170434569e-06, 0.22830656846831834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9888337596733813, 0.8730131918187122, 1.694947240496898e-08, 0.25396448743806416, 8.760381487687096e-07, 1.848550170434569e-06, 0.22830656846831834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9888337596733813, 0.8730131918187122, 1.694947240496898e-08, 0.25396448743806416, 8.760381487687096e-07, 1.848550170434569e-06, 0.22830656846831834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9888337596733813, 0.8730131918187122, 1.694947240496898e-08, 0.25396448743806416, 8.760381487687096e-07, 1.848550170434569e-06, 0.22830656846831834, 0.0], "min": [-3.1124000549316406, -2.4894745349884033, -0.018893523141741753, 0.99928879737854, -1.4453982899453877e-08, -5.145557224750519e-08, 0.0, -1.0, -2.820234775543213, -2.6801092624664307, 0.46102118492126465, -0.9999998211860657, -0.08769456297159195, -0.7069098949432373, -0.9999998807907104, 0.0, -3.1013717651367188, -2.4811370372772217, -0.018893836066126823, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -3.0938656330108643, -2.4754624366760254, -0.9308457970619202, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -3.0886638164520264, -2.471529722213745, -0.018893901258707047, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -3.0104329586029053, -2.412386417388916, -0.018893761560320854, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.949246406555176, -2.366128921508789, -0.018893418833613396, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.9269301891326904, -2.349257707595825, -0.018893873319029808, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.8923864364624023, -2.3231422901153564, -0.018893619999289513, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.8431689739227295, -2.285933494567871, -0.11077067255973816, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.811366319656372, -2.261890411376953, 0.47921258211135864, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.7597382068634033, -2.2228589057922363, 0.4792122542858124, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.680516242980957, -2.16296648979187, 0.4792129397392273, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.6765127182006836, -2.159939765930176, 0.4792124629020691, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.673903703689575, -2.1579673290252686, 0.4792129397392273, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.5926804542541504, -2.096561908721924, 0.4792121350765228, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.536440849304199, -2.054044246673584, 0.4792124330997467, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.509035110473633, -2.0333251953125, 0.6473370790481567, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.4669816493988037, -2.0015323162078857, 0.6473360061645508, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.425809860229492, -1.9704060554504395, -0.3213019371032715, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.3989787101745605, -1.9501214027404785, 0.647337019443512, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.342160224914551, -1.9071660041809082, 0.6473366618156433, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.2615160942077637, -1.8461982011795044, 0.6473357677459717, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.2583320140838623, -1.8437910079956055, 0.647347092628479, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.253446340560913, -1.8400973081588745, 0.6473364233970642, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.175107002258301, -1.7808719873428345, 0.6473350524902344, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.124053478240967, -1.7422751188278198, 0.6473348140716553, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.091639280319214, -1.717769742012024, 0.647336483001709, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.040940999984741, -1.6794413328170776, 0.6473366022109985, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -2.0077877044677734, -1.6543771028518677, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.986591100692749, -1.6383522748947144, 0.6473352313041687, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.9244037866592407, -1.5913381576538086, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.8491281270980835, -1.5344290733337402, 0.647338330745697, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.8411186933517456, -1.5283738374710083, 0.6473389863967896, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.828591227531433, -1.5189028978347778, 0.6473357677459717, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.7572667598724365, -1.464980959892273, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.7116656303405762, -1.4305061101913452, 0.6473369002342224, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.6737006902694702, -1.4018042087554932, 0.6473364233970642, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.6154450178146362, -1.357762336730957, 0.6473361253738403, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.5904755592346191, -1.3388851881027222, 0.6473345756530762, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.5742030143737793, -1.3265830278396606, 0.6473357677459717, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.5067461729049683, -1.2755850553512573, 0.6473366022109985, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.436740517616272, -1.2226600646972656, 0.6473345160484314, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.4229978322982788, -1.2122704982757568, 0.6473350524902344, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.4019103050231934, -1.1963281631469727, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.3397725820541382, -1.1493514776229858, 0.6473363041877747, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.299277901649475, -1.1187371015548706, 0.647335946559906, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.2562255859375, -1.0861891508102417, 0.6473362445831299, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.1888877153396606, -1.0352810621261597, 0.6473372578620911, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.1723735332489014, -1.0227961540222168, 0.6473360657691956, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.1618152856826782, -1.014814019203186, 0.6473361253738403, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.0890693664550781, -0.9598174095153809, 0.6473361253738403, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.0243525505065918, -0.9108908772468567, 0.6473348140716553, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -1.0057047605514526, -0.896793007850647, 0.6473365426063538, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.9765380620956421, -0.8747426867485046, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.9218527674674988, -0.8334001302719116, 0.6473363041877747, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.8868898153305054, -0.8069677948951721, 0.647336483001709, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.8383662104606628, -0.7702834606170654, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.7639086842536926, -0.7139928936958313, 0.6473373174667358, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.755141019821167, -0.7073644399642944, 0.6473388671875, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.7494271993637085, -0.7030447125434875, -3.0280601978302, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.6712413430213928, -0.6439354419708252, -3.0280628204345703, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.6111558079719543, -0.598510205745697, -3.0280601978302, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.5870181918144226, -0.5802619457244873, -3.028062105178833, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.5517092943191528, -0.5535680651664734, -3.028059720993042, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.5018841624259949, -0.5158997774124146, -3.028059959411621, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.4671916961669922, -0.4896719455718994, -3.0280601978302, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.41435521841049194, -0.44972705841064453, -3.0280609130859375, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.3456725776195526, -0.39780232310295105, -3.028059959411621, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.3254069685935974, -0.38248133659362793, -1.3283451795578003, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.30994492769241333, -0.3707919120788574, -2.1910393238067627, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.2332451343536377, -0.3128061294555664, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697501540184021, -0.9999932050704956, -6.052577646187274e-06, -2.213957714047865e-06, -0.9999998807907104, 0.0, -0.1443638950586319, -0.2456110417842865, 0.647335946559906, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697510480880737, -0.9950034618377686, -6.052577646187274e-06, -1.787431074262713e-06, -0.9996935725212097, 0.0, -0.1403542309999466, -0.24257969856262207, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697510480880737, -0.9950034618377686, -6.052577646187274e-06, -1.787431074262713e-06, -0.9996935725212097, 0.0, -0.13690277934074402, -0.2399703711271286, 0.6473362445831299, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697510480880737, -0.9950034618377686, -6.052577646187274e-06, -1.787431074262713e-06, -0.9996935725212097, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697510480880737, -0.9950034618377686, -6.052577646187274e-06, -1.787431074262713e-06, -0.9996935725212097, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -2.820234775543213, -2.6801092624664307, 0.6697510480880737, -0.9950034618377686, -6.052577646187274e-06, -1.787431074262713e-06, -0.9996935725212097, 0.0], "max": [0.30048176646232605, 1.6654022932052612, 0.647336483001709, 1.0, 0.0, 0.0, 0.0377064011991024, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697565913200378, 0.9999994039535522, 0.07519818097352982, 0.7067866325378418, 0.9949944615364075, 1.0, 0.07327063381671906, 1.6634275913238525, 0.6473270654678345, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697565913200378, 0.09559761732816696, 5.59365480512497e-06, 2.0462604879867285e-05, 0.9949944615364075, 0.0, 0.13565951585769653, 1.670795202255249, 0.6473473310470581, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697565913200378, 0.09559761732816696, 5.59365480512497e-06, 2.0462604879867285e-05, 0.9949944615364075, 0.0, 0.1444992870092392, 1.658921241760254, 0.6473363637924194, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697565913200378, 0.09559761732816696, 5.59365480512497e-06, 2.0462604879867285e-05, 0.9949944615364075, 0.0, 0.19480064511299133, -0.16747692227363586, 0.6473348736763, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.25635701417922974, -0.16864009201526642, 0.6473344564437866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.3152064383029938, -0.1697520911693573, 0.6473363637924194, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.3750709295272827, -0.17088329792022705, 0.6473351716995239, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.43406009674072266, -0.17199794948101044, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.4610474109649658, -0.1749996393918991, 0.6473380923271179, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.4959075152873993, -0.15688596665859222, 0.6473349928855896, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.5342576503753662, -0.13695885241031647, 0.6473394632339478, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.5588829517364502, -0.12416327744722366, 0.647335410118103, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.6388639211654663, -0.08260434120893478, 0.6473350524902344, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.6534498333930969, -0.07502534240484238, 0.647335946559906, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.6767648458480835, -0.06291063129901886, 0.6473373174667358, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.7665513157844543, -0.0162566639482975, 1.1388766765594482, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.7870171666145325, 0.028142962604761124, 1.1388756036758423, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8108524680137634, 0.07985229790210724, 0.6473372578620911, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8626214265823364, 0.06262177973985672, 1.2030562162399292, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8703518509864807, 0.08268696069717407, 1.2030566930770874, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8924678564071655, 0.14009161293506622, 1.203057050704956, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9225578308105469, 0.21819369494915009, 1.2030576467514038, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9294096231460571, 0.235978364944458, 1.2030572891235352, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9480491280555725, 0.2843594551086426, 1.2030572891235352, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9678001403808594, 0.3356255888938904, 1.2030562162399292, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9776797890663147, 0.3612693250179291, 1.2030569314956665, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0062298774719238, 0.4353744387626648, 1.2675490379333496, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.024999976158142, 0.49536237120628357, 1.5074176788330078, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.025139570236206, 0.4975619614124298, 1.5074453353881836, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0291165113449097, 0.5602542757987976, 1.5074456930160522, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0327203273773193, 0.6170649528503418, 1.5074459314346313, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0349326133728027, 0.6519396305084229, 1.5074435472488403, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0382214784622192, 0.7037836909294128, 1.5074434280395508, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0412710905075073, 0.7518561482429504, 1.507443904876709, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0448501110076904, 0.8082743883132935, 1.5074450969696045, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0475660562515259, 0.8510882258415222, 1.5074456930160522, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0489468574523926, 0.8728552460670471, 1.5074447393417358, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0535259246826172, 0.9450387358665466, 2.0864837169647217, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.024999976158142, 0.995362401008606, 1.771384835243225, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0245769023895264, 0.9974431991577148, 1.7714159488677979, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.009795904159546, 1.0701287984848022, 1.7714152336120605, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 1.0008362531661987, 1.1141880750656128, 1.7714169025421143, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.990045964717865, 1.167249083518982, 1.7714163064956665, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9700420498847961, 1.2656182050704956, 1.7714147567749023, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9691241383552551, 1.270132064819336, 1.7714158296585083, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.967622697353363, 1.2775154113769531, 1.7714165449142456, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.9483283758163452, 1.3723950386047363, 1.7714170217514038, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.937894344329834, 1.4237041473388672, 3.0384063720703125, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8691805005073547, 1.4308197498321533, 2.499321460723877, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8575475215911865, 1.43952214717865, 2.4993205070495605, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8307952880859375, 1.459535002708435, 2.4993209838867188, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.8231397867202759, 1.4652619361877441, 2.4993202686309814, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.7526828646659851, 1.5179694890975952, 2.4993209838867188, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.7031260132789612, 1.555042028427124, 2.499321937561035, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.6595413088798523, 1.5876468420028687, 2.4993209838867188, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.6235997676849365, 1.6145340204238892, 2.4993200302124023, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.5838119983673096, 1.6442985534667969, 2.499321460723877, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.5392270684242249, 1.6776516437530518, 2.3650310039520264, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.49103406071662903, 1.7250003814697266, 0.6473362445831299, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.46180957555770874, 1.7216681241989136, 0.6473361253738403, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.44593557715415955, 1.719858169555664, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.3547690510749817, 1.709463119506836, 0.647336483001709, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.3262445330619812, 1.706210732460022, 0.6473363041877747, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.24206331372261047, 1.6966121196746826, 0.6473360657691956, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.20247188210487366, 1.692097783088684, 0.6473361849784851, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.12890209257602692, 1.6837091445922852, 0.6473361253738403, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.07796362042427063, 1.677901029586792, 0.6473358869552612, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.015667326748371124, 1.6707978248596191, 0.6473350524902344, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.017295580357313156, 1.6642141342163086, 0.6473361849784851, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, 0.0, 1.6399999856948853, 0.6473363041877747, 0.0, 0.0, 0.0, 0.0, 2.0, 1.3302812576293945, 1.9822291135787964, 0.6697511672973633, 0.09559761732816696, 5.59365480512497e-06, 5.855590643477626e-06, 0.9949944615364075, 0.0, -0.1443638950586319, -0.2456110417842865, 0.647335946559906, 0.0, 0.0, 0.0, 0.0, 2.0, 0.31641685962677, 0.18563923239707947, 0.6697511672973633, -0.024747615680098534, -2.399264076302643e-06, 5.3770495469507296e-06, -0.09983866661787033, 0.0, -0.1403542309999466, -0.24257969856262207, 0.6473355889320374, 0.0, 0.0, 0.0, 0.0, 2.0, 0.31641685962677, 0.18563923239707947, 0.6697511672973633, -0.024747615680098534, -2.399264076302643e-06, 5.3770495469507296e-06, -0.09983866661787033, 0.0, -0.13690277934074402, -0.2399703711271286, 0.6473362445831299, 0.0, 0.0, 0.0, 0.0, 2.0, 0.31641685962677, 0.18563923239707947, 0.6697511672973633, -0.024747615680098534, -2.399264076302643e-06, 5.3770495469507296e-06, -0.09983866661787033, 0.0, -0.04433261603116989, -0.16998642683029175, 0.5947084426879883, 0.0, 0.0, 0.0, 0.0, 2.0, 0.31641685962677, 0.18563923239707947, 0.6697511672973633, -0.024747615680098534, -2.399264076302643e-06, 5.3770495469507296e-06, -0.09983866661787033, 0.0, 0.0, -0.14000000059604645, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 0.31641685962677, 0.18563923239707947, 0.6697511672973633, -0.024747615680098534, -2.399264076302643e-06, 5.3770495469507296e-06, -0.09983866661787033, 0.0], "count": [1886]}, "action.applied": {"mean": [0.05506924008985048, 0.04499859450663013, 0.16468586988820202, 0.5366340844021875, 0.03912543907488992, 0.03912543907488992, 0.03912543907488992, 0.03912543907488992, 1.285353122196582, -0.2764522664938186, -0.28297638897733457, 0.026378579003181336, 0.026378579003181336], "std": [0.12149364186590564, 0.07744757985427869, 0.2656145621819325, 0.07505831124639807, 0.027256791563174784, 0.027256791563174784, 0.027256791563174784, 0.027256791563174784, 0.5870057245711985, 0.5440629458167098, 0.5813227802980355, 0.07680374548528456, 0.07680374548528456], "min": [-0.28346002101898193, -0.07149437069892883, -0.22029075026512146, 0.49999749660491943, 0.02496361918747425, 0.02496361918747425, 0.02496361918747425, 0.02496361918747425, -0.09963396936655045, -1.4400655031204224, -1.619489073753357, 0.0, 0.0], "max": [0.29999709129333496, 0.2999480366706848, 0.800000011920929, 0.7167013883590698, 0.10087956488132477, 0.10087956488132477, 0.10087956488132477, 0.10087956488132477, 1.5710598230361938, 2.9627328331116587e-05, 1.2065504506608704e-06, 0.25, 0.25], "count": [1886]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1886]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1886]}, "sim_step_idx": {"mean": [1946.0], "std": [1088.882454629516], "min": [61.0], "max": [3831.0], "count": [1886]}, "timestamp": {"mean": [37.700000002419266], "std": [21.77764909317949], "min": [0.0], "max": [75.4000015258789], "count": [1886]}, "frame_index": {"mean": [942.5], "std": [544.441227314758], "min": [0.0], "max": [1885.0], "count": [1886]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1886]}, "index": {"mean": [942.5], "std": [544.441227314758], "min": [0.0], "max": [1885.0], "count": [1886]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1886]}, "next.done": {"mean": [0.0005302226935312832], "std": [0.023020459539864698], "min": [0.0], "max": [1.0], "count": [1886]}, "observation.images.head": {"mean": [[[0.38015805315976414]], [[0.3436952240659912]], [[0.3083517466215221]]], "std": [[[0.13077994492839465]], [[0.13392067776694883]], [[0.13730331591533557]]], "min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[0.8235294117647058]], [[0.807843137254902]], [[0.803921568627451]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.39141259472441947]], [[0.37524372847423126]], [[0.35151972832493994]]], "std": [[[0.1514628968222123]], [[0.14548166631120196]], [[0.152583905743562]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.9607843137254902]], [[0.9294117647058824]]], "count": [100]}}}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,599 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MemoryStage",
+ "subsample_every": 2,
+ "control_steps": 3772,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "st_wall_l_1",
+     "cat_name": "st_wall_l",
+     "inst_id": 1,
+     "noun": "st wall l",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.2055053123039405,
+      2.6540018537633103,
+      0.76999967421611
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_wall_r_1",
+     "cat_name": "st_wall_r",
+     "inst_id": 1,
+     "noun": "st wall r",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.1854527421914245,
+      2.4547456502039045,
+      0.7699995893950344
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_wall_top_1",
+     "cat_name": "st_wall_top",
+     "inst_id": 1,
+     "noun": "st wall top",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.695479062817393,
+      2.55437375664101,
+      1.1699996318055708
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0000000000000002
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       -1.1102230246251565e-16
+      ]
+     }
+    },
+    {
+     "id": "st_wall_bottom_1",
+     "cat_name": "st_wall_bottom",
+     "inst_id": 1,
+     "noun": "st wall bottom",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.6954789738931164,
+      2.554373744997504,
+      0.16999963180557476
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999991,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_table_a_1",
+     "cat_name": "st_table_a",
+     "inst_id": 1,
+     "noun": "st table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.635702112825295,
+      2.260389516031258,
+      0.1699996405441959
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000000000002,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_table_b_1",
+     "cat_name": "st_table_b",
+     "inst_id": 1,
+     "noun": "st table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.7552558349609377,
+      2.84835797396375,
+      0.1699996230669536
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000000000002,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "st_booth_l_1",
+     "cat_name": "st_booth_l",
+     "inst_id": 1,
+     "noun": "st booth l",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.175126865240316,
+      2.3540399375259313,
+      0.6699996804100994
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       1.7763568394002505e-15,
+       0.0,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "st_booth_r_1",
+     "cat_name": "st_booth_r",
+     "inst_id": 1,
+     "noun": "st booth r",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.096277449334551,
+      2.16673910618009,
+      0.6699996006782883
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       -1.7763568394002505e-15,
+       0.0,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "weigher_1",
+     "cat_name": "weigher",
+     "inst_id": 1,
+     "noun": "weigher",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      3.765218667674402,
+      2.897355371150593,
+      0.3699996287630726
+     ],
+     "bbox": {
+      "extent": [
+       0.36000001430511475,
+       0.18000000715255737,
+       0.07999999915808442
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.03999999952688815
+      ]
+     }
+    },
+    {
+     "id": "item_red_1",
+     "cat_name": "item_red",
+     "inst_id": 1,
+     "noun": "item red",
+     "color": "red",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.6476232448546844,
+      2.9212653747174957,
+      0.4359335817365644
+     ],
+     "bbox": {
+      "extent": [
+       0.02411313439653217,
+       0.024063398002948308,
+       0.02417607618403722
+      ],
+      "center": [
+       9.313225529314351e-10,
+       -9.313225685439463e-10,
+       0.012000003829598399
+      ]
+     }
+    },
+    {
+     "id": "item_blue_1",
+     "cat_name": "item_blue",
+     "inst_id": 1,
+     "noun": "item blue",
+     "color": "blue",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.8828116452763175,
+      2.8734446522604284,
+      0.43757256990144044
+     ],
+     "bbox": {
+      "extent": [
+       0.024084781450191363,
+       0.024049335689645533,
+       0.024133807918278682
+      ],
+      "center": [
+       9.313225754828403e-10,
+       -9.313226995155688e-10,
+       0.012000003829598427
+      ]
+     }
+    },
+    {
+     "id": "delivery_1",
+     "cat_name": "delivery",
+     "inst_id": 1,
+     "noun": "delivery",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.078965176633626,
+      2.884583296212715,
+      0.3729995938595456
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "st_wall_l_1",
+     "relation": "on_top_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_l_1",
+     "relation": "left_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "on_top_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "left_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "on_top_of",
+     "object": "st_wall_l_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "right_of",
+     "object": "st_wall_l_1"
+    },
+    {
+     "subject": "st_wall_bottom_1",
+     "relation": "left_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "st_table_a_1",
+     "relation": "right_of",
+     "object": "st_wall_bottom_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "right_of",
+     "object": "st_wall_l_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "right_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "weigher_1",
+     "relation": "in_front_of",
+     "object": "item_red_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "behind",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "in_front_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "delivery_1",
+     "relation": "in_front_of",
+     "object": "item_blue_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        811.3606627541883,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        811.3606388722814,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.594223667470133,
+      1.8066129991552728,
+      1.2357226109419717
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
+       [
+        0.5646357088821415,
+        -2.9266214562895243e-06,
+        0.825340242716055
+       ],
+       [
+        -0.825340242721242,
+        -1.9347513867118415e-06,
+        0.5646357088788294
+       ]
+      ],
+      "t": [
+       -0.0029374520292166934,
+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        426.91786449658065,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        426.9178503597538,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.5673973190909556,
+      1.879296779142974,
+      -0.0036023483764435933
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
+        3.46210948901734e-06,
+        0.9848141327789798,
+        0.1736119922897026
+       ],
+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
+       ]
+      ],
+      "t": [
+       0.008999751121030937,
+       -0.07177462016445776,
+       0.044614582297616646
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.1124,
+       -2.4895,
+       0.06
+      ],
+      "ori": [
+       0.9950041770935059,
+       0.0,
+       0.0,
+       0.0998334139585495
+      ]
+     },
+     "facing_yaw_deg": 11.459155722466997,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[delivery]t booth r]\n[item blue]b]ble a]]\n   [st[st booth l]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 3.141592653589793.",
+   "task_id": "N052",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,344 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1886,
+    "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",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "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",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                95
+            ],
+            "names": [
+                "articulation_joint_pos.weigher.0",
+                "articulation_joint_pos.weigher.1",
+                "articulation_joint_vel.weigher.0",
+                "articulation_joint_vel.weigher.1",
+                "articulation_pose.weigher.0",
+                "articulation_pose.weigher.1",
+                "articulation_pose.weigher.2",
+                "articulation_pose.weigher.3",
+                "articulation_pose.weigher.4",
+                "articulation_pose.weigher.5",
+                "articulation_pose.weigher.6",
+                "object_pose.delivery.0",
+                "object_pose.delivery.1",
+                "object_pose.delivery.2",
+                "object_pose.delivery.3",
+                "object_pose.delivery.4",
+                "object_pose.delivery.5",
+                "object_pose.delivery.6",
+                "object_pose.item_blue.0",
+                "object_pose.item_blue.1",
+                "object_pose.item_blue.2",
+                "object_pose.item_blue.3",
+                "object_pose.item_blue.4",
+                "object_pose.item_blue.5",
+                "object_pose.item_blue.6",
+                "object_pose.item_red.0",
+                "object_pose.item_red.1",
+                "object_pose.item_red.2",
+                "object_pose.item_red.3",
+                "object_pose.item_red.4",
+                "object_pose.item_red.5",
+                "object_pose.item_red.6",
+                "object_pose.st_booth_l.0",
+                "object_pose.st_booth_l.1",
+                "object_pose.st_booth_l.2",
+                "object_pose.st_booth_l.3",
+                "object_pose.st_booth_l.4",
+                "object_pose.st_booth_l.5",
+                "object_pose.st_booth_l.6",
+                "object_pose.st_booth_r.0",
+                "object_pose.st_booth_r.1",
+                "object_pose.st_booth_r.2",
+                "object_pose.st_booth_r.3",
+                "object_pose.st_booth_r.4",
+                "object_pose.st_booth_r.5",
+                "object_pose.st_booth_r.6",
+                "object_pose.st_table_a.0",
+                "object_pose.st_table_a.1",
+                "object_pose.st_table_a.2",
+                "object_pose.st_table_a.3",
+                "object_pose.st_table_a.4",
+                "object_pose.st_table_a.5",
+                "object_pose.st_table_a.6",
+                "object_pose.st_table_b.0",
+                "object_pose.st_table_b.1",
+                "object_pose.st_table_b.2",
+                "object_pose.st_table_b.3",
+                "object_pose.st_table_b.4",
+                "object_pose.st_table_b.5",
+                "object_pose.st_table_b.6",
+                "object_pose.st_wall_bottom.0",
+                "object_pose.st_wall_bottom.1",
+                "object_pose.st_wall_bottom.2",
+                "object_pose.st_wall_bottom.3",
+                "object_pose.st_wall_bottom.4",
+                "object_pose.st_wall_bottom.5",
+                "object_pose.st_wall_bottom.6",
+                "object_pose.st_wall_l.0",
+                "object_pose.st_wall_l.1",
+                "object_pose.st_wall_l.2",
+                "object_pose.st_wall_l.3",
+                "object_pose.st_wall_l.4",
+                "object_pose.st_wall_l.5",
+                "object_pose.st_wall_l.6",
+                "object_pose.st_wall_r.0",
+                "object_pose.st_wall_r.1",
+                "object_pose.st_wall_r.2",
+                "object_pose.st_wall_r.3",
+                "object_pose.st_wall_r.4",
+                "object_pose.st_wall_r.5",
+                "object_pose.st_wall_r.6",
+                "object_pose.st_wall_top.0",
+                "object_pose.st_wall_top.1",
+                "object_pose.st_wall_top.2",
+                "object_pose.st_wall_top.3",
+                "object_pose.st_wall_top.4",
+                "object_pose.st_wall_top.5",
+                "object_pose.st_wall_top.6",
+                "object_pose.weigher.0",
+                "object_pose.weigher.1",
+                "object_pose.weigher.2",
+                "object_pose.weigher.3",
+                "object_pose.weigher.4",
+                "object_pose.weigher.5",
+                "object_pose.weigher.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1216
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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
+            }
+        }
+    }
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:36:39"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "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": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "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": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."}

N052/stretch3/dr_on/seed_6011/rec/memorystage/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 sha256:16eea1fb097ab8a0d4f1f2f78987286dcc74c451b2870acf470171416ad5690b
+size 68662910

N052/stretch3/dr_on/seed_6011/rec/memorystage/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 sha256:7da8b6fb8a9381609e6f7d5efe4fe3c41f40ededbd169e01a52ecf45db3b889d
+size 35070190

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/run_meta.json

@@ -0,0 +1,1048 @@
+{
+    "run_id": "memorystage/000",
+    "created": "2026-11-10 00:17:40",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n052_str_on_6011/out/rec",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MemoryN052Env-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "dt": 0.005,
+                "decimation": 4,
+                "seed": 6011,
+                "soft_resets": 100,
+                "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": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.1124,
+                                -2.4895,
+                                0.06
+                            ],
+                            [
+                                -3.1124,
+                                -2.4895,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                11.459155902616466
+                            ],
+                            [
+                                0,
+                                0,
+                                11.459155902616466
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "joint_lift": 0.5,
+                            "joint_arm_l[0-3]": 0.025,
+                            "joint_wrist_yaw": 1.5707963267948966
+                        }
+                    },
+                    "action": {
+                        "base_action": "differential_virtual",
+                        "arm_action": "ik_abs",
+                        "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": "hellorobot",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 8,
+                            "ik_max_goalset": 1,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true,
+                            "mode": "position"
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_differential",
+                            "dwb_differential": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.26,
+                                "room_size": 20.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.45,
+                                "scan_min_z": 0.22,
+                                "scan_max_z": 1.75,
+                                "goal_pos_threshold": 0.04,
+                                "goal_yaw_threshold": 0.05,
+                                "kp_goal_yaw": 1.5,
+                                "min_speed": -0.3,
+                                "max_speed": 0.3,
+                                "w_heading": 0.5,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": false,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "goal_heading_fade_distance": 0.5,
+                                "scan_type": "3d",
+                                "own_body_clear": true,
+                                "own_body_radius": 0.3,
+                                "goal_cost_mode": "path"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 0.2,
+                                "kp_linear_x": 2.0,
+                                "kp_linear_y": 2.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 0.1,
+                                "kd_linear_y": 0.1,
+                                "min_vel": -0.25,
+                                "max_vel": 0.35,
+                                "linear_dead_zone": 0.003,
+                                "angular_dead_zone": 0.004,
+                                "nav_heading_target": 1,
+                                "velocity_frame": "world"
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.35,
+                        "wheel_base": 0.5
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.73834228515625,
+                        "horizontal_aperture": 2.1600000858306885,
+                        "vertical_aperture": 1.62,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/base_link",
+                        "pos": [
+                            0.049771,
+                            -0.002942,
+                            1.295723
+                        ],
+                        "ori": [
+                            0.0002,
+                            -55.623,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.280753493309021,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.44,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/link_gripper_s3_body",
+                        "pos": [
+                            0.009,
+                            0.062939,
+                            0.056398
+                        ],
+                        "ori": [
+                            -170.0021,
+                            0.0,
+                            -179.9998
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "st_wall_l": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.5,
+                                0.75,
+                                0.83
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.4,
+                                0.1,
+                                1.6
+                            ]
+                        },
+                        "st_wall_l_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_r": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.5,
+                                0.75,
+                                0.83
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.4,
+                                0.1,
+                                1.6
+                            ]
+                        },
+                        "st_wall_r_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_top": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.75,
+                                1.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.1,
+                                0.8
+                            ]
+                        },
+                        "st_wall_top_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_wall_bottom": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.75,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.1,
+                                0.4
+                            ]
+                        },
+                        "st_wall_bottom_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.82,
+                                    0.82,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                0.45,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.5,
+                                0.4
+                            ]
+                        },
+                        "st_table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.05,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.5,
+                                0.4
+                            ]
+                        },
+                        "st_table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_booth_l": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.47,
+                                0.45,
+                                0.73
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.04,
+                                0.5,
+                                1.4
+                            ]
+                        },
+                        "st_booth_l_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.7,
+                                    0.75,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "st_booth_r": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.47,
+                                0.45,
+                                0.73
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.04,
+                                0.5,
+                                1.4
+                            ]
+                        },
+                        "st_booth_r_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.7,
+                                    0.75,
+                                    0.8
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "weigher": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Station/n052_scale/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.0,
+                                1.1,
+                                0.43
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "weigher_1": {
+                            "physics": {
+                                "type": "articulation"
+                            }
+                        }
+                    },
+                    "item_red": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -0.12,
+                                1.1,
+                                0.501
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "item_red_1": {
+                            "visual": {
+                                "color": [
+                                    0.9,
+                                    0.12,
+                                    0.1
+                                ]
+                            },
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.05,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "item_blue": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.12,
+                                1.1,
+                                0.501
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                1,
+                                1,
+                                1
+                            ]
+                        },
+                        "item_blue_1": {
+                            "visual": {
+                                "color": [
+                                    0.12,
+                                    0.25,
+                                    0.95
+                                ]
+                            },
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.05,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "delivery": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.31,
+                                1.15,
+                                0.433
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.13,
+                                0.13,
+                                0.006
+                            ]
+                        },
+                        "delivery_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.15,
+                                    0.55,
+                                    0.9
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 120,
+                    "agent_height_cm": 110,
+                    "min_agent_radius_cm": 30.0,
+                    "max_agent_radius_cm": 30.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "validate_path_reroute": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": true
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "task_id": "N052",
+            "family_id": "measured_attribute_memory",
+            "level": "easy",
+            "agent_id": "a11",
+            "embodiment": "stretch3",
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_s": 480.0,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "arrive_radius": 0.4,
+                "arrive_yaw_tol": 0.45,
+                "arrive_dwell_s": 1.0,
+                "layout": {
+                    "room_x": [
+                        -4.4,
+                        4.4
+                    ],
+                    "room_y": [
+                        -3.25,
+                        4.75
+                    ],
+                    "floor_z": 0.03,
+                    "center": [
+                        0.0,
+                        0.75
+                    ],
+                    "wall_half_x": 0.7,
+                    "wall_thick": 0.1,
+                    "wall_height": 1.6,
+                    "table_top": 0.4,
+                    "table_half_x": 0.45,
+                    "table_depth": 0.5,
+                    "stand_clear": 0.34,
+                    "start": [
+                        -3.1124,
+                        -2.4895,
+                        0.2
+                    ],
+                    "flip_x": false,
+                    "b_dx": 0.0,
+                    "b_dyaw": 0.0,
+                    "window": [
+                        -0.3,
+                        0.3,
+                        0.4,
+                        0.8
+                    ],
+                    "booth_height": 1.0,
+                    "booth_thick": 0.04
+                }
+            },
+            "audit": {
+                "read_s": 0.5,
+                "gap_s": 1.0,
+                "legible_range": 3.0,
+                "cameras": {
+                    "head": {
+                        "mount": "base",
+                        "offset": [
+                            -0.12,
+                            0.0,
+                            1.3
+                        ],
+                        "pitch_deg": -45.0,
+                        "hfov_deg": 73.74,
+                        "vfov_deg": 58.72,
+                        "far": 8.0,
+                        "pan_deg": -90.0
+                    }
+                }
+            },
+            "command": {
+                "MemoryStage": {
+                    "script": "n052",
+                    "init_limit": 60,
+                    "hold_after_every_walk": true
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MemoryStage": {
+                    "script": "n052",
+                    "init_limit": 60,
+                    "hold_after_every_walk": true
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "carry_arm": true,
+                    "settle_speed": 0.03,
+                    "settle_yaw_rate": 0.05,
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.12,
+                    "rotation_threshold": 0.12,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "MoveL": {
+                    "translation_threshold": 0.003,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.2,
+                    "timeout_steps": 50,
+                    "debug": false
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0,
+                    "timeout_steps": 3000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.15,
+                    "base_rot_threshold": 0.1,
+                    "eef_pos_threshold": 0.05,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 10.0,
+                    "debug": true,
+                    "interp_steps": 80,
+                    "min_steps_before_done": 10
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.01,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.01,
+                    "timeout_steps": 200,
+                    "stride": 1,
+                    "debug": false,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.15,
+                    "waypoint_max_steps": 3,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "linear_synth_lookahead": 0.1,
+                    "linear_synth_max_waypoints": 10
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.006,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "hold_steps": 20,
+                    "obstacle_avoid_paths": [
+                        "dynamic"
+                    ],
+                    "obstacle_ignore_paths": []
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.15,
+                    "retrieval_offset": 0.2,
+                    "mobile": true,
+                    "reactive": true,
+                    "pre_grasp_mode": -1
+                }
+            },
+            "auto_collect": {
+                "task_type": "memory",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n052_str_on_6011/out/rec",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "item_red",
+                "item_blue",
+                "ruler*",
+                "delivery"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2c2781b0a7acf8c78f76cf88a7d68a9f80ab16e976df90577e6fff7ff0e052
+size 858924

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,729 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "memorystage/000",
+    "task_type": "MemoryStage",
+    "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": [
+                {
+                    "st_wall_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -0.5,
+                                    0.75,
+                                    0.83
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.4,
+                                    0.1,
+                                    1.6
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.5,
+                                    0.75,
+                                    0.83
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.4,
+                                    0.1,
+                                    1.6
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_top": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.75,
+                                    1.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.1,
+                                    0.8
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_wall_bottom": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.75,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.1,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.82,
+                                        0.82,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    0.45,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.5,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    1.05,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.5,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_booth_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -0.47,
+                                    0.45,
+                                    0.73
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.04,
+                                    0.5,
+                                    1.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.7,
+                                        0.75,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "st_booth_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.47,
+                                    0.45,
+                                    0.73
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.04,
+                                    0.5,
+                                    1.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.7,
+                                        0.75,
+                                        0.8
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "weigher": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Station/n052_scale/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    0.0,
+                                    1.100000023841858,
+                                    0.4300000071525574
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    -0.00391643401235342,
+                                    -0.002281743800267577
+                                ],
+                                "joint_velocity": [
+                                    0.02038629539310932,
+                                    0.017910845577716827
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ],
+                    "item_red": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -0.12000155448913574,
+                                    1.099998950958252,
+                                    0.4959339499473572
+                                ],
+                                "ori": [
+                                    0.9999991059303284,
+                                    -0.0006583966314792633,
+                                    0.0011761891655623913,
+                                    -1.4547258615493774e-06
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.9,
+                                        0.12,
+                                        0.1
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.05,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.0001784602354746312,
+                                    0.0005645016790367663,
+                                    0.0203902218490839
+                                ],
+                                "angular_velocity": [
+                                    0.021324709057807922,
+                                    -0.006267002318054438,
+                                    0.012996668927371502
+                                ]
+                            }
+                        }
+                    ],
+                    "item_blue": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Object/dexgrasp_robotwin/clutter_dice_00000/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    0.11999928951263428,
+                                    1.0999999046325684,
+                                    0.49757295846939087
+                                ],
+                                "ori": [
+                                    0.9999995827674866,
+                                    -0.0005124229937791824,
+                                    0.0008815554901957512,
+                                    1.1604279279708862e-06
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.12,
+                                        0.25,
+                                        0.95
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.05,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -3.857127012452111e-06,
+                                    -0.00033912723301909864,
+                                    0.017830530181527138
+                                ],
+                                "angular_velocity": [
+                                    -0.014124564826488495,
+                                    -0.03388861194252968,
+                                    -0.00887993909418583
+                                ]
+                            }
+                        }
+                    ],
+                    "delivery": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.31,
+                                    1.15,
+                                    0.433
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.13,
+                                    0.13,
+                                    0.006
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.15,
+                                        0.55,
+                                        0.9
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "HelloRobot": {
+                "root_pose": [
+                    [
+                        -3.1124000549316406,
+                        -2.489500045776367,
+                        0.05999999865889549,
+                        0.9950041770935059,
+                        0.0,
+                        0.0,
+                        0.0998334214091301
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.5,
+                        0.0,
+                        0.0,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        0.02500000037252903,
+                        1.5707963705062866,
+                        0.0,
+                        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,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.04977099969983101,
+                        -0.002942000050097704,
+                        1.2957229614257812,
+                        -0.6254264116287231,
+                        -0.3299117982387543,
+                        0.32990962266921997,
+                        0.6254276037216187
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.008999999612569809,
+                        0.06293900310993195,
+                        0.056398000568151474,
+                        -1.5083966786733072e-07,
+                        1.7244702803509426e-06,
+                        0.9961962699890137,
+                        0.08713743835687637
+                    ]
+                ]
+            }
+        }
+    }
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19120fb52b5b6792d2843af842ee1f2e6bf58d9c31e4e4bcd34f8c842657f73
+size 545777

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:37:03"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "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": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N052/stretch3/dr_on/seed_6011/rec/memorystage/000/visual_dr.json

@@ -0,0 +1,682 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "item_red",
+   "item_blue",
+   "ruler*",
+   "delivery"
+  ],
+  "skip": [
+   "*Robot_*",
+   "*/Camera*",
+   "*/camera*"
+  ],
+  "light_intensity": [
+   0.6,
+   1.5
+  ],
+  "light_color_temperature": [
+   3500.0,
+   7500.0
+  ],
+  "light_jitter_deg": 5.0,
+  "dome_swap_prob": 0.5,
+  "dome_tint_sat": [
+   0.0,
+   0.15
+  ],
+  "dome_yaw": true,
+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
+   0.0,
+   0.3
+  ],
+  "tint_val": [
+   0.7,
+   1.0
+  ],
+  "roughness_scale": [
+   0.8,
+   1.25
+  ],
+  "material_swap": true,
+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 0,
+   "episode_seed": 6011,
+   "seeds": {
+    "0": 6011
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 10009.483707,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6488.915163,
+     "rotate_deg": [
+      -3.37,
+      0.76,
+      2.183
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1472.028973,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4208.225266,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      108.181
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.733805,
+       0.769845,
+       0.734655
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8526,
+      0.9222,
+      0.9878
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.514352,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Stone/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Ardesia_Grigia.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Ardesia_Grigia",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Even.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "item_red": 1,
+    "item_blue": 1,
+    "ruler*": 16,
+    "delivery": 1
+   },
+   "physics_skip": {
+    "physics_binding": 14,
+    "rigid_body": 129,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/visuals/omni_wheel_m/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/collisions/link_aruco_left_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/collisions/link_aruco_right_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_imu/collisions/base_imu/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/collisions/link_left_wheel_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/collisions/link_mast_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/collisions/link_head_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 6011,
+   "seeds": {
+    "0": 6011
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 10009.483707,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6488.915163,
+     "rotate_deg": [
+      -3.37,
+      0.76,
+      2.183
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1472.028973,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4208.225266,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      108.181
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.733805,
+       0.769845,
+       0.734655
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8526,
+      0.9222,
+      0.9878
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.514352,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Stone/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Ardesia_Grigia.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Ardesia_Grigia",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Even.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "item_red": 1,
+    "item_blue": 1,
+    "ruler*": 16,
+    "delivery": 1
+   },
+   "physics_skip": {
+    "physics_binding": 14,
+    "rigid_body": 129,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/visuals/omni_wheel_m/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/collisions/link_aruco_left_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/collisions/link_aruco_right_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_imu/collisions/base_imu/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/collisions/link_left_wheel_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/collisions/link_mast_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/collisions/link_head_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N052/stretch3/dr_on/seed_6011/report.json

@@ -0,0 +1,960 @@
+{
+  "task_id": "N052",
+  "config": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/src/magicsim/Collect/Task/MemoryStation/Conf/memory_n052_easy.yaml",
+  "episodes": [
+    {
+      "task_id": "N052",
+      "task_version": "EXT60-MobileAvatar-v3",
+      "agent_id": "a11",
+      "family_id": "measured_attribute_memory",
+      "primary_category": "C6",
+      "level": "easy",
+      "embodiment": "stretch3",
+      "scene_seed": 6011,
+      "execution_mode": "expert_collect_chain",
+      "station_layout": {
+        "A": [
+          0.0,
+          -0.14,
+          3.142
+        ],
+        "A_obs": null,
+        "B": [
+          0.0,
+          1.64,
+          0.0
+        ],
+        "S": [
+          -3.112,
+          -2.49,
+          0.2
+        ],
+        "flip_x": false,
+        "route_m": {
+          "S_to_A_m": null,
+          "A_to_B_m": null,
+          "A_to_B_straight_m": 1.78,
+          "S_to_A_straight_m": 3.9
+        }
+      },
+      "spawn_pose": [
+        -3.1124,
+        -2.4895,
+        0.2
+      ],
+      "base_path": [
+        [
+          -3.112,
+          -2.49,
+          0.2,
+          0.02
+        ],
+        [
+          -3.015,
+          -2.451,
+          0.47,
+          1.88
+        ],
+        [
+          -2.927,
+          -2.399,
+          0.594,
+          2.22
+        ],
+        [
+          -2.845,
+          -2.338,
+          0.67,
+          2.56
+        ],
+        [
+          -2.767,
+          -2.273,
+          0.709,
+          2.9
+        ],
+        [
+          -2.69,
+          -2.206,
+          0.722,
+          3.24
+        ],
+        [
+          -2.613,
+          -2.139,
+          0.72,
+          3.58
+        ],
+        [
+          -2.536,
+          -2.072,
+          0.71,
+          3.92
+        ],
+        [
+          -2.459,
+          -2.006,
+          0.696,
+          4.26
+        ],
+        [
+          -2.38,
+          -1.941,
+          0.682,
+          4.6
+        ],
+        [
+          -2.3,
+          -1.877,
+          0.67,
+          4.94
+        ],
+        [
+          -2.22,
+          -1.814,
+          0.661,
+          5.28
+        ],
+        [
+          -2.139,
+          -1.752,
+          0.654,
+          5.62
+        ],
+        [
+          -2.058,
+          -1.69,
+          0.649,
+          5.96
+        ],
+        [
+          -1.977,
+          -1.629,
+          0.646,
+          6.3
+        ],
+        [
+          -1.895,
+          -1.567,
+          0.645,
+          6.64
+        ],
+        [
+          -1.814,
+          -1.506,
+          0.645,
+          6.98
+        ],
+        [
+          -1.732,
+          -1.445,
+          0.644,
+          7.32
+        ],
+        [
+          -1.651,
+          -1.384,
+          0.645,
+          7.66
+        ],
+        [
+          -1.569,
+          -1.322,
+          0.645,
+          8.0
+        ],
+        [
+          -1.488,
+          -1.261,
+          0.646,
+          8.34
+        ],
+        [
+          -1.406,
+          -1.199,
+          0.646,
+          8.68
+        ],
+        [
+          -1.325,
+          -1.138,
+          0.647,
+          9.02
+        ],
+        [
+          -1.243,
+          -1.077,
+          0.646,
+          9.36
+        ],
+        [
+          -1.162,
+          -1.015,
+          0.646,
+          9.7
+        ],
+        [
+          -1.081,
+          -0.954,
+          0.646,
+          10.04
+        ],
+        [
+          -1.0,
+          -0.892,
+          0.646,
+          10.38
+        ],
+        [
+          -0.918,
+          -0.831,
+          0.646,
+          10.72
+        ],
+        [
+          -0.837,
+          -0.769,
+          0.646,
+          11.06
+        ],
+        [
+          -0.756,
+          -0.708,
+          0.646,
+          11.4
+        ],
+        [
+          -0.675,
+          -0.646,
+          0.646,
+          11.74
+        ],
+        [
+          -0.593,
+          -0.585,
+          0.646,
+          12.08
+        ],
+        [
+          -0.512,
+          -0.523,
+          0.646,
+          12.42
+        ],
+        [
+          -0.431,
+          -0.462,
+          0.646,
+          12.76
+        ],
+        [
+          -0.35,
+          -0.401,
+          0.646,
+          13.1
+        ],
+        [
+          -0.269,
+          -0.34,
+          0.646,
+          13.46
+        ],
+        [
+          -0.188,
+          -0.278,
+          0.646,
+          13.98
+        ],
+        [
+          -0.107,
+          -0.218,
+          0.641,
+          14.78
+        ],
+        [
+          -0.02,
+          -0.164,
+          3.098,
+          28.94
+        ],
+        [
+          0.084,
+          -0.168,
+          3.111,
+          29.3
+        ],
+        [
+          0.186,
+          -0.17,
+          3.139,
+          29.64
+        ],
+        [
+          0.288,
+          -0.166,
+          -3.068,
+          29.98
+        ],
+        [
+          0.389,
+          -0.154,
+          -2.973,
+          30.32
+        ],
+        [
+          0.489,
+          -0.132,
+          -2.867,
+          30.66
+        ],
+        [
+          0.586,
+          -0.098,
+          -2.735,
+          31.08
+        ],
+        [
+          0.676,
+          -0.052,
+          -2.606,
+          31.74
+        ],
+        [
+          0.759,
+          0.005,
+          -2.417,
+          32.98
+        ],
+        [
+          0.839,
+          0.066,
+          0.391,
+          38.02
+        ],
+        [
+          0.921,
+          0.132,
+          0.838,
+          38.58
+        ],
+        [
+          0.979,
+          0.215,
+          1.073,
+          38.92
+        ],
+        [
+          1.019,
+          0.309,
+          1.256,
+          39.26
+        ],
+        [
+          1.044,
+          0.407,
+          1.391,
+          39.6
+        ],
+        [
+          1.057,
+          0.512,
+          1.481,
+          40.06
+        ],
+        [
+          1.064,
+          0.613,
+          1.535,
+          40.4
+        ],
+        [
+          1.064,
+          0.715,
+          1.605,
+          40.74
+        ],
+        [
+          1.057,
+          0.817,
+          1.667,
+          41.08
+        ],
+        [
+          1.045,
+          0.918,
+          1.714,
+          41.42
+        ],
+        [
+          1.028,
+          1.019,
+          1.748,
+          41.76
+        ],
+        [
+          1.009,
+          1.119,
+          1.773,
+          42.14
+        ],
+        [
+          0.988,
+          1.217,
+          1.799,
+          42.7
+        ],
+        [
+          0.965,
+          1.315,
+          1.83,
+          43.8
+        ],
+        [
+          0.923,
+          1.408,
+          2.232,
+          45.82
+        ],
+        [
+          0.855,
+          1.483,
+          2.385,
+          46.16
+        ],
+        [
+          0.774,
+          1.552,
+          2.487,
+          46.52
+        ],
+        [
+          0.69,
+          1.609,
+          2.607,
+          46.86
+        ],
+        [
+          0.599,
+          1.655,
+          2.757,
+          47.2
+        ],
+        [
+          0.502,
+          1.686,
+          2.904,
+          47.54
+        ],
+        [
+          0.402,
+          1.703,
+          3.03,
+          47.88
+        ],
+        [
+          0.301,
+          1.709,
+          -3.136,
+          48.3
+        ],
+        [
+          0.198,
+          1.702,
+          -3.023,
+          48.84
+        ],
+        [
+          0.099,
+          1.683,
+          -2.854,
+          49.66
+        ],
+        [
+          0.197,
+          1.66,
+          0.058,
+          70.78
+        ]
+      ],
+      "stage_events": [
+        {
+          "event": "arrived_A",
+          "from": "S",
+          "t": 19.82,
+          "path_len_m": 3.866
+        },
+        {
+          "event": "left_A",
+          "t": 31.48
+        },
+        {
+          "event": "arrived_B",
+          "from": "A",
+          "t": 54.68,
+          "path_len_m": 7.227
+        },
+        {
+          "event": "walk_done",
+          "pose": [
+            0.036,
+            1.659,
+            -0.049
+          ],
+          "goal": [
+            0.144,
+            1.659,
+            0.0
+          ]
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 1,
+          "pos_err": 0.1088,
+          "yaw_err": -0.0486,
+          "phase": "turn"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 51,
+          "pos_err": 0.0172,
+          "yaw_err": 0.0412,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 101,
+          "pos_err": 0.005,
+          "yaw_err": 0.06,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 151,
+          "pos_err": 0.005,
+          "yaw_err": 0.0111,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_progress",
+          "trim_step": 201,
+          "pos_err": 0.005,
+          "yaw_err": 0.0021,
+          "phase": "drive"
+        },
+        {
+          "event": "trim_done",
+          "pose": [
+            0.1396,
+            1.6581,
+            0.002
+          ],
+          "timed_out": false
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:pre",
+          "mode": -1,
+          "pos": [
+            0.12,
+            1.1,
+            0.6396
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1396,
+            1.6581,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:down:0",
+          "mode": 4,
+          "pos": [
+            0.12,
+            1.1,
+            0.5196
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1396,
+            1.6581,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "settle_err",
+          "label": "take_item:down",
+          "k": 0,
+          "err_mm": [
+            1.7,
+            0.0,
+            -2.9
+          ],
+          "norm_mm": 3.4
+        },
+        {
+          "event": "grip_check",
+          "k": 0,
+          "q_left": 0.0306,
+          "q_right": 0.0317,
+          "asym": -0.0011,
+          "die_off_mm": -0.4
+        },
+        {
+          "event": "move_target",
+          "label": "take_item:lift",
+          "mode": 4,
+          "pos": [
+            0.12,
+            1.1,
+            0.6396
+          ],
+          "quat": [
+            0.6996,
+            -0.0742,
+            0.7069,
+            -0.0734
+          ],
+          "base": [
+            0.1396,
+            1.6581,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_delivery:over",
+          "mode": -1,
+          "pos": [
+            0.3078,
+            1.1504,
+            0.6364
+          ],
+          "quat": [
+            -0.6997,
+            0.0742,
+            -0.7068,
+            0.0734
+          ],
+          "base": [
+            0.1396,
+            1.6581,
+            0.06,
+            0.002
+          ]
+        },
+        {
+          "event": "move_target",
+          "label": "to_delivery:down",
+          "mode": 4,
+          "pos": [
+            0.3018,
+            1.15,
+            0.461
+          ],
+          "quat": [
+            -0.7009,
+            0.0752,
+            -0.7056,
+            0.0719
+          ],
+          "base": [
+            0.2909,
+            1.665,
+            0.06,
+            0.0688
+          ]
+        }
+      ],
+      "transport_state": {
+        "light": "blue",
+        "on_delivery": {
+          "red": false,
+          "blue": true
+        },
+        "expected_deflection_m": {
+          "red": 0.0446,
+          "blue": 0.0149
+        }
+      },
+      "manipulation_success": true,
+      "mobile_success": true,
+      "full_success": true,
+      "failure_reason": "",
+      "station_transition_order": [
+        "S",
+        "A",
+        "B"
+      ],
+      "distance_to_first_interaction": 3.866,
+      "interstation_path_lengths": {
+        "A": [
+          3.866
+        ],
+        "B": [
+          3.361
+        ]
+      },
+      "final_approach_pose": [
+        0.291,
+        1.665,
+        0.069
+      ],
+      "cue_ledger": {
+        "read_s": 0.5,
+        "gap_s": 1.0,
+        "cues": {
+          "weight_red": {
+            "reads": 1,
+            "first_read_t": 22.54,
+            "first_read_end_t": 23.8,
+            "gap_open_t": 24.8,
+            "reobserved_t": [],
+            "visible_now": false
+          },
+          "weight_blue": {
+            "reads": 1,
+            "first_read_t": 26.54,
+            "first_read_end_t": 27.8,
+            "gap_open_t": 28.8,
+            "reobserved_t": [],
+            "visible_now": false
+          }
+        },
+        "decisions": [
+          {
+            "label": "pick_lighter",
+            "t": 55.160000000000004,
+            "class": "memory",
+            "per_cue": {
+              "weight_red": "memory",
+              "weight_blue": "memory"
+            },
+            "readings_m": {
+              "red": 0.05798624411225319,
+              "blue": 0.038800615817308426
+            },
+            "lighter": "blue"
+          }
+        ],
+        "protocol_valid": true
+      },
+      "public": {
+        "demo_running": false,
+        "demo_done": true
+      },
+      "truth": {
+        "light": "blue",
+        "heavy": "red",
+        "red_pad": 0,
+        "order": [
+          0,
+          1
+        ]
+      },
+      "episode_time_s": 76.64,
+      "extra": {
+        "item_pos": {
+          "red": [
+            -0.12,
+            1.1,
+            0.4959
+          ],
+          "blue": [
+            0.3041,
+            1.1497,
+            0.4389
+          ]
+        },
+        "demo_start_t": 19.82,
+        "weigh_events": [
+          {
+            "pad": 0,
+            "event": "freed",
+            "t": 20.82
+          },
+          {
+            "pad": 0,
+            "event": "locked",
+            "t": 23.82,
+            "deflection_m": 0.058
+          },
+          {
+            "pad": 1,
+            "event": "freed",
+            "t": 24.82
+          },
+          {
+            "pad": 1,
+            "event": "locked",
+            "t": 27.82,
+            "deflection_m": 0.0388
+          }
+        ],
+        "cue_diag": {
+          "weight_red": {
+            "active_ticks": 89,
+            "visible_ticks": 89
+          },
+          "weight_blue": {
+            "active_ticks": 89,
+            "visible_ticks": 89
+          }
+        },
+        "demo_done_t": 28.82,
+        "transport_state": {
+          "light": "blue",
+          "on_delivery": {
+            "red": false,
+            "blue": true
+          },
+          "expected_deflection_m": {
+            "red": 0.0446,
+            "blue": 0.0149
+          }
+        },
+        "first_pick": {
+          "color": "blue",
+          "correct": true,
+          "t": 68.58
+        }
+      },
+      "env_terminated": true,
+      "env_truncated": false,
+      "control_ticks": 3832,
+      "diagnostics": {
+        "atomic_skill_info": null,
+        "global_planner_info": {},
+        "nav_reports": {
+          "0": {
+            "success": true,
+            "native_path": [
+              [
+                0.035111259669065475,
+                1.658921241760254,
+                0.030429303646087646
+              ],
+              [
+                0.07327063381671906,
+                1.6634275913238525,
+                0.030429303646087646
+              ],
+              [
+                0.13565951585769653,
+                1.670795202255249,
+                0.030429303646087646
+              ],
+              [
+                0.1444992870092392,
+                1.658921241760254,
+                0.030429305508732796
+              ]
+            ],
+            "validated_points": 4,
+            "repaired": false,
+            "clearance_radius_m": 0.26,
+            "window_m": 20.0,
+            "window": "path",
+            "scan_s": 3.99
+          }
+        }
+      }
+    }
+  ],
+  "success": true,
+  "planner_seeds": "default",
+  "dr": {
+    "seed": 6011,
+    "spawn_jitter": 0.3,
+    "start": [
+      -3.1124,
+      -2.4895,
+      0.2
+    ],
+    "nominal_start": [
+      -3.3,
+      -2.3,
+      0.0
+    ]
+  },
+  "collect": {
+    "task": "N052",
+    "robot": "stretch3",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N052",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/base_link",
+        "pos": [
+          0.049771,
+          -0.002942,
+          1.295723
+        ],
+        "ori": [
+          0.0002,
+          -55.623,
+          -90.0
+        ],
+        "focal_length": 2.73834228515625,
+        "horizontal_aperture": 2.1600000858306885,
+        "vertical_aperture": 1.62
+      },
+      "wrist": {
+        "link": "Robot_0/link_gripper_s3_body",
+        "pos": [
+          0.009,
+          0.062939,
+          0.056398
+        ],
+        "ori": [
+          -170.0021,
+          0.0,
+          -179.9998
+        ],
+        "focal_length": 1.280753493309021,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.44
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "output_dir": "/mnt/scratch/sz850_atomic/n052_str_on_6011/out/rec/memorystage/000",
+  "steps": 3832,
+  "elapsed_s": 1188.189,
+  "episodes_run": 1,
+  "episodes_full_success": 1
+}